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type=\u0022text\/css\u0022 rel=\u0022stylesheet\u0022 href=\u0022\/\/jeb.biologists.org\/sites\/default\/files\/advagg_css\/css__KwIbTmK5u_TU0NIDnj2cXC8qhcT3ubSigju5zweyvGo__Na1tlJkEAK1Xp2tUr7FLThp8QTJDudX2yRstNVVwxrw__J6r-TGuQ1MlzdNtJMnNETMDU7KPTPmE78fSrPY4500c.css\u0022 media=\u0022all\u0022 \/\u003E\n\u003Clink rel=\u0027stylesheet\u0027 type=\u0027text\/css\u0027 href=\u0027\/sites\/all\/modules\/contrib\/panels\/plugins\/layouts\/onecol\/onecol.css\u0027 \/\u003E\u003C\/head\u003E\u003Cbody\u003E\u003Cdiv class=\u0022panels-ajax-tab-panel panels-ajax-tab-panel-jnl-template-cob-tab-data\u0022\u003E\u003Cdiv class=\u0022panel-display panel-1col clearfix\u0022 \u003E\n \u003Cdiv class=\u0022panel-panel panel-col\u0022\u003E\n \u003Cdiv\u003E\u003Cdiv class=\u0022panel-pane pane-cob-fragment-figures\u0022 \u003E\n \n \u003Ch2 class=\u0022pane-title\u0022\u003EArticle Figures \u0026amp; Tables\u003C\/h2\u003E\n \n \n \u003Cdiv class=\u0022pane-content\u0022\u003E\n \u003Cdiv class=\u0022elements-frag-data highwire-markup\u0022 id=\u0022fig-data\u0022\u003E\u003Cdiv id=\u0022fig-data-figures\u0022 class=\u0022group frag-figures\u0022\u003E\u003Cdiv class=\u0022fig-data-title-jump clearfix\u0022\u003E\u003Ch3 id=\u0022fig-frag-data-title\u0022 class=\u0022fig-data-group-title\u0022\u003EFigures\u003C\/h3\u003E\u003Cdiv class=\u0022fig-data-jump-links\u0022\u003E\u003Cul class=\u0022fig-data-jump-links-list links inline\u0022\u003E\u003Cli class=\u0022tables first last\u0022\u003E\u003Ca href=\u0022#fig-data-tables\u0022 class=\u0022fig-data-jump-link fig-data-jump-link-tables link-icon\u0022\u003E\u003Ci class=\u0022icon-caret-down\u0022\u003E\u003C\/i\u003E \u003Cspan class=\u0022title\u0022\u003ETables\u003C\/span\u003E\u003C\/a\u003E\u003C\/li\u003E\u003C\/ul\u003E\u003C\/div\u003E\u003C\/div\u003E\u003Cdiv class=\u0022item-list\u0022\u003E\u003Cul id=\u0022fig-frag-fig\u0022 class=\u0022fig-frag-data-list clearfix\u0022\u003E\u003Cli class=\u0022first\u0022\u003E\u003Cdiv class=\u0022element-fig-frag-data clearfix supplementary-material-caption\u0022\u003E\u003Cdiv class=\u0022highwire-markup\u0022\u003E\u003Cdiv xmlns=\u0022http:\/\/www.w3.org\/1999\/xhtml\u0022 id=\u0022content-block-markup\u0022 xmlns:xhtml=\u0022http:\/\/www.w3.org\/1999\/xhtml\u0022\u003E\u003Cdiv class=\u0022fig-expansion\u0022 id=\u0022F1\u0022\u003E\u003Cspan class=\u0022highwire-journal-article-marker-start\u0022\u003E\u003C\/span\u003E\u003Cdiv class=\u0022highwire-figure\u0022\u003E\u003Cdiv class=\u0022fig-inline-img-wrapper\u0022\u003E\u003Cdiv class=\u0022fig-inline-img\u0022\u003E\u003Ca href=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F1.large.jpg?width=800\u0026amp;height=600\u0026amp;carousel=1\u0022 title=\u0022The raptorial appendage of the mantis shrimp. (A) Gonodactylus smithii uses its raptorial appendage (dashed outline) to capture and process prey. Scale bar, 2 cm. (B) A schematic of the raptorial appendage in a loaded position (meral-V rotated proximally), with its major anatomical features labeled. The striking body is composed of the carpus, the propodus and the dactyl (black outline), which moves as a single rigid structure during a strike. Joints in the merus, meral-V and carpus (denoted as a\u0026#x2013;d, with orange circles) define the geometry of the four-bar linkage system that gears the meral spring to the striking body. (C) The geometry of the linkage system was used to calculate the kinematic transmission (Tk), as a function of the input angle, \u0026#x3B8;. (D) A schematic illustration of our mathematical model illustrates how the torque generated by the meral spring (\u0026#x3C4;spring, Eqn 5) is geared by the linkage system to generate torque that is applied to the striking body (\u0026#x3C4;applied, Eqn 6). This force transmission system was modeled with gearing that varied with the input angle, as dictated by the Tk of the linkage system (Patek et al., 2007). The motion of the striking body was modeled as pure rotation about point b. We modeled the resistance to the spring torque arising from the mass of the striking body and drag (straight blue arrow), which created a resistive torque (\u0026#x3C4;drag, Eqn 7). Additional symbol definitions are provided in the List of symbols and are described in the Materials and methods.\u0022 class=\u0022highwire-fragment fragment-images colorbox-load\u0022 rel=\u0022gallery-fragment-images-826372270\u0022 data-figure-caption=\u0022\u0026lt;div class=\u0026quot;highwire-markup\u0026quot;\u0026gt;\u0026lt;div xmlns=\u0026quot;http:\/\/www.w3.org\/1999\/xhtml\u0026quot;\u0026gt;The raptorial appendage of the mantis shrimp. (A) \u0026lt;em\u0026gt;Gonodactylus smithii\u0026lt;\/em\u0026gt; uses its raptorial appendage (dashed outline) to capture and process prey. Scale bar, 2 cm. (B) A schematic of the raptorial appendage in a loaded position (meral-V rotated proximally), with its major anatomical features labeled. The striking body is composed of the carpus, the propodus and the dactyl (black outline), which moves as a single rigid structure during a strike. Joints in the merus, meral-V and carpus (denoted as \u0026lt;strong\u0026gt;a\u0026#x2013;d\u0026lt;\/strong\u0026gt;, with orange circles) define the geometry of the four-bar linkage system that gears the meral spring to the striking body. (C) The geometry of the linkage system was used to calculate the kinematic transmission (\u0026lt;em\u0026gt;T\u0026lt;\/em\u0026gt;\u0026lt;sub\u0026gt;k\u0026lt;\/sub\u0026gt;), as a function of the input angle, \u0026#x3B8;. (D) A schematic illustration of our mathematical model illustrates how the torque generated by the meral spring (\u0026#x3C4;\u0026lt;sub\u0026gt;spring\u0026lt;\/sub\u0026gt;, Eqn 5) is geared by the linkage system to generate torque that is applied to the striking body (\u0026#x3C4;\u0026lt;sub\u0026gt;applied\u0026lt;\/sub\u0026gt;, Eqn 6). This force transmission system was modeled with gearing that varied with the input angle, as dictated by the \u0026lt;em\u0026gt;T\u0026lt;\/em\u0026gt;\u0026lt;sub\u0026gt;k\u0026lt;\/sub\u0026gt; of the linkage system (Patek et al., 2007). The motion of the striking body was modeled as pure rotation about point \u0026lt;strong\u0026gt;b\u0026lt;\/strong\u0026gt;. We modeled the resistance to the spring torque arising from the mass of the striking body and drag (straight blue arrow), which created a resistive torque (\u0026#x3C4;\u0026lt;sub\u0026gt;drag\u0026lt;\/sub\u0026gt;, Eqn 7). Additional symbol definitions are provided in the List of symbols and are described in the Materials and methods.\u0026lt;\/div\u0026gt;\u0026lt;\/div\u0026gt;\u0022 data-icon-position=\u0022\u0022 data-hide-link-title=\u00220\u0022\u003E\u003Cspan class=\u0022hw-responsive-img\u0022\u003E\u003Cimg class=\u0022highwire-fragment fragment-image lazyload\u0022 alt=\u0022Fig. 1.\u0022 src=\u0022data:image\/gif;base64,R0lGODlhAQABAIAAAAAAAP\/\/\/yH5BAEAAAAALAAAAAABAAEAAAIBRAA7\u0022 data-src=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F1.medium.gif\u0022\/\u003E\u003Cnoscript\u003E\u003Cimg class=\u0022highwire-fragment fragment-image\u0022 alt=\u0022Fig. 1.\u0022 src=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F1.medium.gif\u0022\/\u003E\u003C\/noscript\u003E\u003C\/span\u003E\u003C\/a\u003E\u003C\/div\u003E\u003C\/div\u003E\u003Cul class=\u0022highwire-figure-links inline\u0022\u003E\u003Cli class=\u0022download-fig first\u0022\u003E\u003Ca href=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F1.large.jpg?download=true\u0022 class=\u0022highwire-figure-link highwire-figure-link-download\u0022 title=\u0022Download Fig. 1.\u0022 data-icon-position=\u0022\u0022 data-hide-link-title=\u00220\u0022\u003EDownload figure\u003C\/a\u003E\u003C\/li\u003E\u003Cli class=\u0022new-tab\u0022\u003E\u003Ca href=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F1.large.jpg\u0022 class=\u0022highwire-figure-link highwire-figure-link-newtab\u0022 target=\u0022_blank\u0022 data-icon-position=\u0022\u0022 data-hide-link-title=\u00220\u0022\u003EOpen in new tab\u003C\/a\u003E\u003C\/li\u003E\u003Cli class=\u0022download-ppt last\u0022\u003E\u003Ca href=\u0022\/highwire\/powerpoint\/1110294\u0022 class=\u0022highwire-figure-link highwire-figure-link-ppt\u0022 data-icon-position=\u0022\u0022 data-hide-link-title=\u00220\u0022\u003EDownload powerpoint\u003C\/a\u003E\u003C\/li\u003E\u003C\/ul\u003E\u003C\/div\u003E\u003Cdiv class=\u0022fig-caption\u0022 xmlns:xhtml=\u0022http:\/\/www.w3.org\/1999\/xhtml\u0022\u003E\u003Cspan class=\u0022fig-label\u0022\u003EFig. 1.\u003C\/span\u003E \n\u003Cp id=\u0022p-10\u0022\u003EThe raptorial appendage of the mantis shrimp. (A) \u003Cem\u003EGonodactylus smithii\u003C\/em\u003E uses its raptorial appendage (dashed outline) to capture and process prey. Scale bar, 2 cm. (B) A schematic of the raptorial appendage in a loaded position (meral-V rotated proximally), with its major anatomical features labeled. The striking body is composed of the carpus, the propodus and the dactyl (black outline), which moves as a single rigid structure during a strike. Joints in the merus, meral-V and carpus (denoted as \u003Cstrong\u003Ea\u2013d\u003C\/strong\u003E, with orange circles) define the geometry of the four-bar linkage system that gears the meral spring to the striking body. (C) The geometry of the linkage system was used to calculate the kinematic transmission (\u003Cem\u003ET\u003C\/em\u003E\u003Csub\u003Ek\u003C\/sub\u003E), as a function of the input angle, \u03b8. (D) A schematic illustration of our mathematical model illustrates how the torque generated by the meral spring (\u03c4\u003Csub\u003Espring\u003C\/sub\u003E, \u003Cspan id=\u0022xref-disp-formula-5-1\u0022 class=\u0022xref-disp-formula\u0022\u003EEqn 5\u003C\/span\u003E) is geared by the linkage system to generate torque that is applied to the striking body (\u03c4\u003Csub\u003Eapplied\u003C\/sub\u003E, \u003Cspan id=\u0022xref-disp-formula-6-1\u0022 class=\u0022xref-disp-formula\u0022\u003EEqn 6\u003C\/span\u003E). This force transmission system was modeled with gearing that varied with the input angle, as dictated by the \u003Cem\u003ET\u003C\/em\u003E\u003Csub\u003Ek\u003C\/sub\u003E of the linkage system (\u003Cspan id=\u0022xref-ref-23-5\u0022 class=\u0022xref-bibr\u0022\u003EPatek et al., 2007\u003C\/span\u003E). The motion of the striking body was modeled as pure rotation about point \u003Cstrong\u003Eb\u003C\/strong\u003E. We modeled the resistance to the spring torque arising from the mass of the striking body and drag (straight blue arrow), which created a resistive torque (\u03c4\u003Csub\u003Edrag\u003C\/sub\u003E, \u003Cspan id=\u0022xref-disp-formula-7-1\u0022 class=\u0022xref-disp-formula\u0022\u003EEqn 7\u003C\/span\u003E). Additional symbol definitions are provided in the List of symbols and are described in the Materials and methods.\u003C\/p\u003E\n\u003Cdiv class=\u0022sb-div caption-clear\u0022\u003E\u003C\/div\u003E\u003C\/div\u003E\u003Cspan class=\u0022highwire-journal-article-marker-end\u0022\u003E\u003C\/span\u003E\u003C\/div\u003E\u003Cspan id=\u0022related-urls\u0022\u003E\u003C\/span\u003E\u003C\/div\u003E\u003C\/div\u003E\u003C\/div\u003E\u003C\/li\u003E\u003Cli\u003E\u003Cdiv class=\u0022element-fig-frag-data clearfix supplementary-material-caption\u0022\u003E\u003Cdiv class=\u0022highwire-markup\u0022\u003E\u003Cdiv xmlns=\u0022http:\/\/www.w3.org\/1999\/xhtml\u0022 id=\u0022content-block-markup\u0022 xmlns:xhtml=\u0022http:\/\/www.w3.org\/1999\/xhtml\u0022\u003E\u003Cdiv class=\u0022fig-expansion\u0022 id=\u0022F2\u0022\u003E\u003Cspan class=\u0022highwire-journal-article-marker-start\u0022\u003E\u003C\/span\u003E\u003Cdiv class=\u0022highwire-figure\u0022\u003E\u003Cdiv class=\u0022fig-inline-img-wrapper\u0022\u003E\u003Cdiv class=\u0022fig-inline-img\u0022\u003E\u003Ca href=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F2.large.jpg?width=800\u0026amp;height=600\u0026amp;carousel=1\u0022 title=\u0022The measurement and scaling of linkage lengths in the raptorial appendage. (A) Coordinates measured from digital photographs of the raptorial appendage provided morphometrics for the four-bar linkage system and striking body. Scale bar, 5 mm. (B) The lengths of each of the links in the system (Table 1) plotted with log-transformed axes demonstrates their scaling with respect to body mass. The schematic drawing of the four-bar linkage provides the color-coding for each link length (l1 in orange, l2 in green, l3 in red, and l4 in purple) for both females (squares and dashed lines) and males (circles and solid lines). The linear fits and their corresponding equations were determined by reduced major axis regression (see Table 2 for descriptive statistics).\u0022 class=\u0022highwire-fragment fragment-images colorbox-load\u0022 rel=\u0022gallery-fragment-images-826372270\u0022 data-figure-caption=\u0022\u0026lt;div class=\u0026quot;highwire-markup\u0026quot;\u0026gt;\u0026lt;div xmlns=\u0026quot;http:\/\/www.w3.org\/1999\/xhtml\u0026quot;\u0026gt;The measurement and scaling of linkage lengths in the raptorial appendage. (A) Coordinates measured from digital photographs of the raptorial appendage provided morphometrics for the four-bar linkage system and striking body. Scale bar, 5 mm. (B) The lengths of each of the links in the system (Table 1) plotted with log-transformed axes demonstrates their scaling with respect to body mass. The schematic drawing of the four-bar linkage provides the color-coding for each link length (\u0026lt;em\u0026gt;l\u0026lt;\/em\u0026gt;\u0026lt;sub\u0026gt;1\u0026lt;\/sub\u0026gt; in orange, \u0026lt;em\u0026gt;l\u0026lt;\/em\u0026gt;\u0026lt;sub\u0026gt;2\u0026lt;\/sub\u0026gt; in green, \u0026lt;em\u0026gt;l\u0026lt;\/em\u0026gt;\u0026lt;sub\u0026gt;3\u0026lt;\/sub\u0026gt; in red, and \u0026lt;em\u0026gt;l\u0026lt;\/em\u0026gt;\u0026lt;sub\u0026gt;4\u0026lt;\/sub\u0026gt; in purple) for both females (squares and dashed lines) and males (circles and solid lines). The linear fits and their corresponding equations were determined by reduced major axis regression (see Table 2 for descriptive statistics).\u0026lt;\/div\u0026gt;\u0026lt;\/div\u0026gt;\u0022 data-icon-position=\u0022\u0022 data-hide-link-title=\u00220\u0022\u003E\u003Cspan class=\u0022hw-responsive-img\u0022\u003E\u003Cimg class=\u0022highwire-fragment fragment-image lazyload\u0022 alt=\u0022Fig. 2.\u0022 src=\u0022data:image\/gif;base64,R0lGODlhAQABAIAAAAAAAP\/\/\/yH5BAEAAAAALAAAAAABAAEAAAIBRAA7\u0022 data-src=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F2.medium.gif\u0022\/\u003E\u003Cnoscript\u003E\u003Cimg class=\u0022highwire-fragment fragment-image\u0022 alt=\u0022Fig. 2.\u0022 src=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F2.medium.gif\u0022\/\u003E\u003C\/noscript\u003E\u003C\/span\u003E\u003C\/a\u003E\u003C\/div\u003E\u003C\/div\u003E\u003Cul class=\u0022highwire-figure-links inline\u0022\u003E\u003Cli class=\u0022download-fig first\u0022\u003E\u003Ca href=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F2.large.jpg?download=true\u0022 class=\u0022highwire-figure-link highwire-figure-link-download\u0022 title=\u0022Download Fig. 2.\u0022 data-icon-position=\u0022\u0022 data-hide-link-title=\u00220\u0022\u003EDownload figure\u003C\/a\u003E\u003C\/li\u003E\u003Cli class=\u0022new-tab\u0022\u003E\u003Ca href=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F2.large.jpg\u0022 class=\u0022highwire-figure-link highwire-figure-link-newtab\u0022 target=\u0022_blank\u0022 data-icon-position=\u0022\u0022 data-hide-link-title=\u00220\u0022\u003EOpen in new tab\u003C\/a\u003E\u003C\/li\u003E\u003Cli class=\u0022download-ppt last\u0022\u003E\u003Ca href=\u0022\/highwire\/powerpoint\/1110298\u0022 class=\u0022highwire-figure-link highwire-figure-link-ppt\u0022 data-icon-position=\u0022\u0022 data-hide-link-title=\u00220\u0022\u003EDownload powerpoint\u003C\/a\u003E\u003C\/li\u003E\u003C\/ul\u003E\u003C\/div\u003E\u003Cdiv class=\u0022fig-caption\u0022 xmlns:xhtml=\u0022http:\/\/www.w3.org\/1999\/xhtml\u0022\u003E\u003Cspan class=\u0022fig-label\u0022\u003EFig. 2.\u003C\/span\u003E \n\u003Cp id=\u0022p-21\u0022\u003EThe measurement and scaling of linkage lengths in the raptorial appendage. (A) Coordinates measured from digital photographs of the raptorial appendage provided morphometrics for the four-bar linkage system and striking body. Scale bar, 5 mm. (B) The lengths of each of the links in the system (\u003Cspan id=\u0022xref-table-wrap-1-1\u0022 class=\u0022xref-table\u0022\u003ETable 1\u003C\/span\u003E) plotted with log-transformed axes demonstrates their scaling with respect to body mass. The schematic drawing of the four-bar linkage provides the color-coding for each link length (\u003Cem\u003El\u003C\/em\u003E\u003Csub\u003E1\u003C\/sub\u003E in orange, \u003Cem\u003El\u003C\/em\u003E\u003Csub\u003E2\u003C\/sub\u003E in green, \u003Cem\u003El\u003C\/em\u003E\u003Csub\u003E3\u003C\/sub\u003E in red, and \u003Cem\u003El\u003C\/em\u003E\u003Csub\u003E4\u003C\/sub\u003E in purple) for both females (squares and dashed lines) and males (circles and solid lines). The linear fits and their corresponding equations were determined by reduced major axis regression (see \u003Cspan id=\u0022xref-table-wrap-2-1\u0022 class=\u0022xref-table\u0022\u003ETable 2\u003C\/span\u003E for descriptive statistics).\u003C\/p\u003E\n\u003Cdiv class=\u0022sb-div caption-clear\u0022\u003E\u003C\/div\u003E\u003C\/div\u003E\u003Cspan class=\u0022highwire-journal-article-marker-end\u0022\u003E\u003C\/span\u003E\u003C\/div\u003E\u003Cspan id=\u0022related-urls\u0022\u003E\u003C\/span\u003E\u003C\/div\u003E\u003C\/div\u003E\u003C\/div\u003E\u003C\/li\u003E\u003Cli\u003E\u003Cdiv class=\u0022element-fig-frag-data clearfix supplementary-material-caption\u0022\u003E\u003Cdiv class=\u0022highwire-markup\u0022\u003E\u003Cdiv xmlns=\u0022http:\/\/www.w3.org\/1999\/xhtml\u0022 id=\u0022content-block-markup\u0022 xmlns:xhtml=\u0022http:\/\/www.w3.org\/1999\/xhtml\u0022\u003E\u003Cdiv class=\u0022fig-expansion\u0022 id=\u0022F3\u0022\u003E\u003Cspan class=\u0022highwire-journal-article-marker-start\u0022\u003E\u003C\/span\u003E\u003Cdiv class=\u0022highwire-figure\u0022\u003E\u003Cdiv class=\u0022fig-inline-img-wrapper\u0022\u003E\u003Cdiv class=\u0022fig-inline-img\u0022\u003E\u003Ca href=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F3.large.jpg?width=800\u0026amp;height=600\u0026amp;carousel=1\u0022 title=\u0022Gearing by the four-bar linkage system. Tk was examined using parameter values for a single mantis shrimp (individual 3, Table 1) and then by individually varying the length of the links. (A\u0026#x2013;D) Low- and high-Tk models were created by respectively increasing and decreasing the length of link 3 (l3). (A,B) The change in shape by the four-bar linkage system from the start to the end of a strike illustrates the displacements of the input (\u0026#x394;\u0026#x3B8;) and output (\u0026#x394;\u0026#x3B3;) angles for systems with a relatively low Tk (A) and high Tk (B). (C) Values of \u0026#x3B3; were determined computationally for the full range of \u0026#x3B8; values theoretically possible (thin curves) for the high- and low-Tk systems. The thick curves illustrate the range of observed values: from the starting (loaded) to resting positions. (D) Tk was calculated from the curves in C for the same range of \u0026#x3B8; values. (E,F) The effect of individually varying the length of each link on the maximum range of motion for the minimum value of Tk (E) and the theoretically possible range of motion in \u0026#x3B8; (F). Additional symbol definitions are provided in the List of symbols and are described in the Materials and methods.\u0022 class=\u0022highwire-fragment fragment-images colorbox-load\u0022 rel=\u0022gallery-fragment-images-826372270\u0022 data-figure-caption=\u0022\u0026lt;div class=\u0026quot;highwire-markup\u0026quot;\u0026gt;\u0026lt;div xmlns=\u0026quot;http:\/\/www.w3.org\/1999\/xhtml\u0026quot;\u0026gt;Gearing by the four-bar linkage system. \u0026lt;em\u0026gt;T\u0026lt;\/em\u0026gt;\u0026lt;sub\u0026gt;k\u0026lt;\/sub\u0026gt; was examined using parameter values for a single mantis shrimp (individual 3, Table 1) and then by individually varying the length of the links. (A\u0026#x2013;D) Low- and high-\u0026lt;em\u0026gt;T\u0026lt;\/em\u0026gt;\u0026lt;sub\u0026gt;k\u0026lt;\/sub\u0026gt; models were created by respectively increasing and decreasing the length of link 3 (\u0026lt;em\u0026gt;l\u0026lt;\/em\u0026gt;\u0026lt;sub\u0026gt;3\u0026lt;\/sub\u0026gt;). (A,B) The change in shape by the four-bar linkage system from the start to the end of a strike illustrates the displacements of the input (\u0026#x394;\u0026#x3B8;) and output (\u0026#x394;\u0026#x3B3;) angles for systems with a relatively low \u0026lt;em\u0026gt;T\u0026lt;\/em\u0026gt;\u0026lt;sub\u0026gt;k\u0026lt;\/sub\u0026gt; (A) and high \u0026lt;em\u0026gt;T\u0026lt;\/em\u0026gt;\u0026lt;sub\u0026gt;k\u0026lt;\/sub\u0026gt; (B). (C) Values of \u0026#x3B3; were determined computationally for the full range of \u0026#x3B8; values theoretically possible (thin curves) for the high- and low-\u0026lt;em\u0026gt;T\u0026lt;\/em\u0026gt;\u0026lt;sub\u0026gt;k\u0026lt;\/sub\u0026gt; systems. The thick curves illustrate the range of observed values: from the starting (loaded) to resting positions. (D) \u0026lt;em\u0026gt;T\u0026lt;\/em\u0026gt;\u0026lt;sub\u0026gt;k\u0026lt;\/sub\u0026gt; was calculated from the curves in C for the same range of \u0026#x3B8; values. (E,F) The effect of individually varying the length of each link on the maximum range of motion for the minimum value of \u0026lt;em\u0026gt;T\u0026lt;\/em\u0026gt;\u0026lt;sub\u0026gt;k\u0026lt;\/sub\u0026gt; (E) and the theoretically possible range of motion in \u0026#x3B8; (F). Additional symbol definitions are provided in the List of symbols and are described in the Materials and methods.\u0026lt;\/div\u0026gt;\u0026lt;\/div\u0026gt;\u0022 data-icon-position=\u0022\u0022 data-hide-link-title=\u00220\u0022\u003E\u003Cspan class=\u0022hw-responsive-img\u0022\u003E\u003Cimg class=\u0022highwire-fragment fragment-image lazyload\u0022 alt=\u0022Fig. 3.\u0022 src=\u0022data:image\/gif;base64,R0lGODlhAQABAIAAAAAAAP\/\/\/yH5BAEAAAAALAAAAAABAAEAAAIBRAA7\u0022 data-src=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F3.medium.gif\u0022\/\u003E\u003Cnoscript\u003E\u003Cimg class=\u0022highwire-fragment fragment-image\u0022 alt=\u0022Fig. 3.\u0022 src=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F3.medium.gif\u0022\/\u003E\u003C\/noscript\u003E\u003C\/span\u003E\u003C\/a\u003E\u003C\/div\u003E\u003C\/div\u003E\u003Cul class=\u0022highwire-figure-links inline\u0022\u003E\u003Cli class=\u0022download-fig first\u0022\u003E\u003Ca href=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F3.large.jpg?download=true\u0022 class=\u0022highwire-figure-link highwire-figure-link-download\u0022 title=\u0022Download Fig. 3.\u0022 data-icon-position=\u0022\u0022 data-hide-link-title=\u00220\u0022\u003EDownload figure\u003C\/a\u003E\u003C\/li\u003E\u003Cli class=\u0022new-tab\u0022\u003E\u003Ca href=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F3.large.jpg\u0022 class=\u0022highwire-figure-link highwire-figure-link-newtab\u0022 target=\u0022_blank\u0022 data-icon-position=\u0022\u0022 data-hide-link-title=\u00220\u0022\u003EOpen in new tab\u003C\/a\u003E\u003C\/li\u003E\u003Cli class=\u0022download-ppt last\u0022\u003E\u003Ca href=\u0022\/highwire\/powerpoint\/1110361\u0022 class=\u0022highwire-figure-link highwire-figure-link-ppt\u0022 data-icon-position=\u0022\u0022 data-hide-link-title=\u00220\u0022\u003EDownload powerpoint\u003C\/a\u003E\u003C\/li\u003E\u003C\/ul\u003E\u003C\/div\u003E\u003Cdiv class=\u0022fig-caption\u0022 xmlns:xhtml=\u0022http:\/\/www.w3.org\/1999\/xhtml\u0022\u003E\u003Cspan class=\u0022fig-label\u0022\u003EFig. 3.\u003C\/span\u003E \n\u003Cp id=\u0022p-29\u0022\u003EGearing by the four-bar linkage system. \u003Cem\u003ET\u003C\/em\u003E\u003Csub\u003Ek\u003C\/sub\u003E was examined using parameter values for a single mantis shrimp (individual 3, \u003Cspan id=\u0022xref-table-wrap-1-3\u0022 class=\u0022xref-table\u0022\u003ETable 1\u003C\/span\u003E) and then by individually varying the length of the links. (A\u2013D) Low- and high-\u003Cem\u003ET\u003C\/em\u003E\u003Csub\u003Ek\u003C\/sub\u003E models were created by respectively increasing and decreasing the length of link 3 (\u003Cem\u003El\u003C\/em\u003E\u003Csub\u003E3\u003C\/sub\u003E). (A,B) The change in shape by the four-bar linkage system from the start to the end of a strike illustrates the displacements of the input (\u0394\u03b8) and output (\u0394\u03b3) angles for systems with a relatively low \u003Cem\u003ET\u003C\/em\u003E\u003Csub\u003Ek\u003C\/sub\u003E (A) and high \u003Cem\u003ET\u003C\/em\u003E\u003Csub\u003Ek\u003C\/sub\u003E (B). (C) Values of \u03b3 were determined computationally for the full range of \u03b8 values theoretically possible (thin curves) for the high- and low-\u003Cem\u003ET\u003C\/em\u003E\u003Csub\u003Ek\u003C\/sub\u003E systems. The thick curves illustrate the range of observed values: from the starting (loaded) to resting positions. (D) \u003Cem\u003ET\u003C\/em\u003E\u003Csub\u003Ek\u003C\/sub\u003E was calculated from the curves in C for the same range of \u03b8 values. (E,F) The effect of individually varying the length of each link on the maximum range of motion for the minimum value of \u003Cem\u003ET\u003C\/em\u003E\u003Csub\u003Ek\u003C\/sub\u003E (E) and the theoretically possible range of motion in \u03b8 (F). Additional symbol definitions are provided in the List of symbols and are described in the Materials and methods.\u003C\/p\u003E\n\u003Cdiv class=\u0022sb-div caption-clear\u0022\u003E\u003C\/div\u003E\u003C\/div\u003E\u003Cspan class=\u0022highwire-journal-article-marker-end\u0022\u003E\u003C\/span\u003E\u003C\/div\u003E\u003Cspan id=\u0022related-urls\u0022\u003E\u003C\/span\u003E\u003C\/div\u003E\u003C\/div\u003E\u003C\/div\u003E\u003C\/li\u003E\u003Cli\u003E\u003Cdiv class=\u0022element-fig-frag-data clearfix supplementary-material-caption\u0022\u003E\u003Cdiv class=\u0022highwire-markup\u0022\u003E\u003Cdiv xmlns=\u0022http:\/\/www.w3.org\/1999\/xhtml\u0022 id=\u0022content-block-markup\u0022 xmlns:xhtml=\u0022http:\/\/www.w3.org\/1999\/xhtml\u0022\u003E\u003Cdiv class=\u0022fig-expansion\u0022 id=\u0022F4\u0022\u003E\u003Cspan class=\u0022highwire-journal-article-marker-start\u0022\u003E\u003C\/span\u003E\u003Cdiv class=\u0022highwire-figure\u0022\u003E\u003Cdiv class=\u0022fig-inline-img-wrapper\u0022\u003E\u003Cdiv class=\u0022fig-inline-img\u0022\u003E\u003Ca href=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F4.large.jpg?width=800\u0026amp;height=600\u0026amp;carousel=1\u0022 title=\u0022Measurements of the drag torque index of the striking body of a representative individual. Photographs of the striking body, as viewed from the side (A) and head-on (B) were used to measure the dimensions of the appendage with respect to position along the dactyl, hdac. The highlighted circle denotes b, the point of rotation for the striking point (see Fig. 1B). (C,D) Measurements of chord width (C), thickness (T) and distance from b (r) were measured at regular intervals along the long axis of the dactyl. (E) These measurements of chord width and thickness provided the basis for calculating (F) the drag coefficient (Eqn 9) and (G) the product CdTr3 as a function of hdac. This product was numerically integrated to find the drag torque product for this individual (D=2060 mm5, Eqn 8). Additional symbol definitions are provided in the List of symbols and are described in the Materials and methods.\u0022 class=\u0022highwire-fragment fragment-images colorbox-load\u0022 rel=\u0022gallery-fragment-images-826372270\u0022 data-figure-caption=\u0022\u0026lt;div class=\u0026quot;highwire-markup\u0026quot;\u0026gt;\u0026lt;div xmlns=\u0026quot;http:\/\/www.w3.org\/1999\/xhtml\u0026quot;\u0026gt;Measurements of the drag torque index of the striking body of a representative individual. Photographs of the striking body, as viewed from the side (A) and head-on (B) were used to measure the dimensions of the appendage with respect to position along the dactyl, \u0026lt;em\u0026gt;h\u0026lt;\/em\u0026gt;\u0026lt;sub\u0026gt;dac\u0026lt;\/sub\u0026gt;. The highlighted circle denotes \u0026lt;strong\u0026gt;b\u0026lt;\/strong\u0026gt;, the point of rotation for the striking point (see Fig. 1B). (C,D) Measurements of chord width (\u0026lt;em\u0026gt;C\u0026lt;\/em\u0026gt;), thickness (\u0026lt;em\u0026gt;T\u0026lt;\/em\u0026gt;) and distance from \u0026lt;strong\u0026gt;b\u0026lt;\/strong\u0026gt; (\u0026lt;em\u0026gt;r\u0026lt;\/em\u0026gt;) were measured at regular intervals along the long axis of the dactyl. (E) These measurements of chord width and thickness provided the basis for calculating (F) the drag coefficient (Eqn 9) and (G) the product \u0026lt;em\u0026gt;C\u0026lt;\/em\u0026gt;\u0026lt;sub\u0026gt;d\u0026lt;\/sub\u0026gt;\u0026lt;em\u0026gt;Tr\u0026lt;\/em\u0026gt;\u0026lt;sup\u0026gt;3\u0026lt;\/sup\u0026gt; as a function of \u0026lt;em\u0026gt;h\u0026lt;\/em\u0026gt;\u0026lt;sub\u0026gt;dac\u0026lt;\/sub\u0026gt;. This product was numerically integrated to find the drag torque product for this individual (\u0026lt;em\u0026gt;D\u0026lt;\/em\u0026gt;=2060 mm\u0026lt;sup\u0026gt;5\u0026lt;\/sup\u0026gt;, Eqn 8). Additional symbol definitions are provided in the List of symbols and are described in the Materials and methods.\u0026lt;\/div\u0026gt;\u0026lt;\/div\u0026gt;\u0022 data-icon-position=\u0022\u0022 data-hide-link-title=\u00220\u0022\u003E\u003Cspan class=\u0022hw-responsive-img\u0022\u003E\u003Cimg class=\u0022highwire-fragment fragment-image lazyload\u0022 alt=\u0022Fig. 4.\u0022 src=\u0022data:image\/gif;base64,R0lGODlhAQABAIAAAAAAAP\/\/\/yH5BAEAAAAALAAAAAABAAEAAAIBRAA7\u0022 data-src=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F4.medium.gif\u0022\/\u003E\u003Cnoscript\u003E\u003Cimg class=\u0022highwire-fragment fragment-image\u0022 alt=\u0022Fig. 4.\u0022 src=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F4.medium.gif\u0022\/\u003E\u003C\/noscript\u003E\u003C\/span\u003E\u003C\/a\u003E\u003C\/div\u003E\u003C\/div\u003E\u003Cul class=\u0022highwire-figure-links inline\u0022\u003E\u003Cli class=\u0022download-fig first\u0022\u003E\u003Ca href=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F4.large.jpg?download=true\u0022 class=\u0022highwire-figure-link highwire-figure-link-download\u0022 title=\u0022Download Fig. 4.\u0022 data-icon-position=\u0022\u0022 data-hide-link-title=\u00220\u0022\u003EDownload figure\u003C\/a\u003E\u003C\/li\u003E\u003Cli class=\u0022new-tab\u0022\u003E\u003Ca href=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F4.large.jpg\u0022 class=\u0022highwire-figure-link highwire-figure-link-newtab\u0022 target=\u0022_blank\u0022 data-icon-position=\u0022\u0022 data-hide-link-title=\u00220\u0022\u003EOpen in new tab\u003C\/a\u003E\u003C\/li\u003E\u003Cli class=\u0022download-ppt last\u0022\u003E\u003Ca href=\u0022\/highwire\/powerpoint\/1110300\u0022 class=\u0022highwire-figure-link highwire-figure-link-ppt\u0022 data-icon-position=\u0022\u0022 data-hide-link-title=\u00220\u0022\u003EDownload powerpoint\u003C\/a\u003E\u003C\/li\u003E\u003C\/ul\u003E\u003C\/div\u003E\u003Cdiv class=\u0022fig-caption\u0022 xmlns:xhtml=\u0022http:\/\/www.w3.org\/1999\/xhtml\u0022\u003E\u003Cspan class=\u0022fig-label\u0022\u003EFig. 4.\u003C\/span\u003E \n\u003Cp id=\u0022p-35\u0022\u003EMeasurements of the drag torque index of the striking body of a representative individual. Photographs of the striking body, as viewed from the side (A) and head-on (B) were used to measure the dimensions of the appendage with respect to position along the dactyl, \u003Cem\u003Eh\u003C\/em\u003E\u003Csub\u003Edac\u003C\/sub\u003E. The highlighted circle denotes \u003Cstrong\u003Eb\u003C\/strong\u003E, the point of rotation for the striking point (see \u003Cspan id=\u0022xref-fig-1-19\u0022 class=\u0022xref-fig\u0022\u003EFig. 1B\u003C\/span\u003E). (C,D) Measurements of chord width (\u003Cem\u003EC\u003C\/em\u003E), thickness (\u003Cem\u003ET\u003C\/em\u003E) and distance from \u003Cstrong\u003Eb\u003C\/strong\u003E (\u003Cem\u003Er\u003C\/em\u003E) were measured at regular intervals along the long axis of the dactyl. (E) These measurements of chord width and thickness provided the basis for calculating (F) the drag coefficient (\u003Cspan id=\u0022xref-disp-formula-9-3\u0022 class=\u0022xref-disp-formula\u0022\u003EEqn 9\u003C\/span\u003E) and (G) the product \u003Cem\u003EC\u003C\/em\u003E\u003Csub\u003Ed\u003C\/sub\u003E\u003Cem\u003ETr\u003C\/em\u003E\u003Csup\u003E3\u003C\/sup\u003E as a function of \u003Cem\u003Eh\u003C\/em\u003E\u003Csub\u003Edac\u003C\/sub\u003E. This product was numerically integrated to find the drag torque product for this individual (\u003Cem\u003ED\u003C\/em\u003E=2060 mm\u003Csup\u003E5\u003C\/sup\u003E, \u003Cspan id=\u0022xref-disp-formula-8-4\u0022 class=\u0022xref-disp-formula\u0022\u003EEqn 8\u003C\/span\u003E). Additional symbol definitions are provided in the List of symbols and are described in the Materials and methods.\u003C\/p\u003E\n\u003Cdiv class=\u0022sb-div caption-clear\u0022\u003E\u003C\/div\u003E\u003C\/div\u003E\u003Cspan class=\u0022highwire-journal-article-marker-end\u0022\u003E\u003C\/span\u003E\u003C\/div\u003E\u003Cspan id=\u0022related-urls\u0022\u003E\u003C\/span\u003E\u003C\/div\u003E\u003C\/div\u003E\u003C\/div\u003E\u003C\/li\u003E\u003Cli\u003E\u003Cdiv class=\u0022element-fig-frag-data clearfix supplementary-material-caption\u0022\u003E\u003Cdiv class=\u0022highwire-markup\u0022\u003E\u003Cdiv xmlns=\u0022http:\/\/www.w3.org\/1999\/xhtml\u0022 id=\u0022content-block-markup\u0022 xmlns:xhtml=\u0022http:\/\/www.w3.org\/1999\/xhtml\u0022\u003E\u003Cdiv class=\u0022fig-expansion\u0022 id=\u0022F5\u0022\u003E\u003Cspan class=\u0022highwire-journal-article-marker-start\u0022\u003E\u003C\/span\u003E\u003Cdiv class=\u0022highwire-figure\u0022\u003E\u003Cdiv class=\u0022fig-inline-img-wrapper\u0022\u003E\u003Cdiv class=\u0022fig-inline-img\u0022\u003E\u003Ca href=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F5.large.jpg?width=800\u0026amp;height=600\u0026amp;carousel=1\u0022 title=\u0022Micro-computed tomography (CT) scans of the striking body were used to calculate the dimensionless moment of inertia. (A) A rendering of one of the CT scans (scale bar, 2 mm), with the axis of rotation highlighted (orange line, corresponding to b in Fig. 1B). A representative transverse section (in gray with blue border) is shown as an inset (B) that reveals the tissue density (proportional to pixel intensity) in the interior of the structure. (C) The dimensionless moment of inertia (I*) was calculated for each of these images, along the length of the dactyl (where hdac is the position along the dactyl and lSB is the total length). The dimensionless moment of inertia for the entire striking body (Eqn 23) was calculated as the sum of these values. This procedure was conducted on three samples (purple is the smallest and green the largest) that spanned more than a factor of 2 in length and 10 in mass from different individuals.\u0022 class=\u0022highwire-fragment fragment-images colorbox-load\u0022 rel=\u0022gallery-fragment-images-826372270\u0022 data-figure-caption=\u0022\u0026lt;div class=\u0026quot;highwire-markup\u0026quot;\u0026gt;\u0026lt;div xmlns=\u0026quot;http:\/\/www.w3.org\/1999\/xhtml\u0026quot;\u0026gt;Micro-computed tomography (CT) scans of the striking body were used to calculate the dimensionless moment of inertia. (A) A rendering of one of the CT scans (scale bar, 2 mm), with the axis of rotation highlighted (orange line, corresponding to \u0026lt;strong\u0026gt;b\u0026lt;\/strong\u0026gt; in Fig. 1B). A representative transverse section (in gray with blue border) is shown as an inset (B) that reveals the tissue density (proportional to pixel intensity) in the interior of the structure. (C) The dimensionless moment of inertia (\u0026lt;em\u0026gt;I\u0026lt;\/em\u0026gt;\u0026lt;sup\u0026gt;*\u0026lt;\/sup\u0026gt;) was calculated for each of these images, along the length of the dactyl (where \u0026lt;em\u0026gt;h\u0026lt;\/em\u0026gt;\u0026lt;sub\u0026gt;dac\u0026lt;\/sub\u0026gt; is the position along the dactyl and \u0026lt;em\u0026gt;l\u0026lt;\/em\u0026gt;\u0026lt;sub\u0026gt;SB\u0026lt;\/sub\u0026gt; is the total length). The dimensionless moment of inertia for the entire striking body (Eqn 23) was calculated as the sum of these values. This procedure was conducted on three samples (purple is the smallest and green the largest) that spanned more than a factor of 2 in length and 10 in mass from different individuals.\u0026lt;\/div\u0026gt;\u0026lt;\/div\u0026gt;\u0022 data-icon-position=\u0022\u0022 data-hide-link-title=\u00220\u0022\u003E\u003Cspan class=\u0022hw-responsive-img\u0022\u003E\u003Cimg class=\u0022highwire-fragment fragment-image lazyload\u0022 alt=\u0022Fig. 5.\u0022 src=\u0022data:image\/gif;base64,R0lGODlhAQABAIAAAAAAAP\/\/\/yH5BAEAAAAALAAAAAABAAEAAAIBRAA7\u0022 data-src=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F5.medium.gif\u0022\/\u003E\u003Cnoscript\u003E\u003Cimg class=\u0022highwire-fragment fragment-image\u0022 alt=\u0022Fig. 5.\u0022 src=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F5.medium.gif\u0022\/\u003E\u003C\/noscript\u003E\u003C\/span\u003E\u003C\/a\u003E\u003C\/div\u003E\u003C\/div\u003E\u003Cul class=\u0022highwire-figure-links inline\u0022\u003E\u003Cli class=\u0022download-fig first\u0022\u003E\u003Ca href=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F5.large.jpg?download=true\u0022 class=\u0022highwire-figure-link highwire-figure-link-download\u0022 title=\u0022Download Fig. 5.\u0022 data-icon-position=\u0022\u0022 data-hide-link-title=\u00220\u0022\u003EDownload figure\u003C\/a\u003E\u003C\/li\u003E\u003Cli class=\u0022new-tab\u0022\u003E\u003Ca href=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F5.large.jpg\u0022 class=\u0022highwire-figure-link highwire-figure-link-newtab\u0022 target=\u0022_blank\u0022 data-icon-position=\u0022\u0022 data-hide-link-title=\u00220\u0022\u003EOpen in new tab\u003C\/a\u003E\u003C\/li\u003E\u003Cli class=\u0022download-ppt last\u0022\u003E\u003Ca href=\u0022\/highwire\/powerpoint\/1110302\u0022 class=\u0022highwire-figure-link highwire-figure-link-ppt\u0022 data-icon-position=\u0022\u0022 data-hide-link-title=\u00220\u0022\u003EDownload powerpoint\u003C\/a\u003E\u003C\/li\u003E\u003C\/ul\u003E\u003C\/div\u003E\u003Cdiv class=\u0022fig-caption\u0022 xmlns:xhtml=\u0022http:\/\/www.w3.org\/1999\/xhtml\u0022\u003E\u003Cspan class=\u0022fig-label\u0022\u003EFig. 5.\u003C\/span\u003E \n\u003Cp id=\u0022p-37\u0022\u003EMicro-computed tomography (CT) scans of the striking body were used to calculate the dimensionless moment of inertia. (A) A rendering of one of the CT scans (scale bar, 2 mm), with the axis of rotation highlighted (orange line, corresponding to \u003Cstrong\u003Eb\u003C\/strong\u003E in \u003Cspan id=\u0022xref-fig-1-20\u0022 class=\u0022xref-fig\u0022\u003EFig. 1B\u003C\/span\u003E). A representative transverse section (in gray with blue border) is shown as an inset (B) that reveals the tissue density (proportional to pixel intensity) in the interior of the structure. (C) The dimensionless moment of inertia (\u003Cem\u003EI\u003C\/em\u003E\u003Csup\u003E*\u003C\/sup\u003E) was calculated for each of these images, along the length of the dactyl (where \u003Cem\u003Eh\u003C\/em\u003E\u003Csub\u003Edac\u003C\/sub\u003E is the position along the dactyl and \u003Cem\u003El\u003C\/em\u003E\u003Csub\u003ESB\u003C\/sub\u003E is the total length). The dimensionless moment of inertia for the entire striking body (\u003Cspan id=\u0022xref-disp-formula-23-1\u0022 class=\u0022xref-disp-formula\u0022\u003EEqn 23\u003C\/span\u003E) was calculated as the sum of these values. This procedure was conducted on three samples (purple is the smallest and green the largest) that spanned more than a factor of 2 in length and 10 in mass from different individuals.\u003C\/p\u003E\n\u003Cdiv class=\u0022sb-div caption-clear\u0022\u003E\u003C\/div\u003E\u003C\/div\u003E\u003Cspan class=\u0022highwire-journal-article-marker-end\u0022\u003E\u003C\/span\u003E\u003C\/div\u003E\u003Cspan id=\u0022related-urls\u0022\u003E\u003C\/span\u003E\u003C\/div\u003E\u003C\/div\u003E\u003C\/div\u003E\u003C\/li\u003E\u003Cli\u003E\u003Cdiv class=\u0022element-fig-frag-data clearfix supplementary-material-caption\u0022\u003E\u003Cdiv class=\u0022highwire-markup\u0022\u003E\u003Cdiv xmlns=\u0022http:\/\/www.w3.org\/1999\/xhtml\u0022 id=\u0022content-block-markup\u0022 xmlns:xhtml=\u0022http:\/\/www.w3.org\/1999\/xhtml\u0022\u003E\u003Cdiv class=\u0022fig-expansion\u0022 id=\u0022F6\u0022\u003E\u003Cspan class=\u0022highwire-journal-article-marker-start\u0022\u003E\u003C\/span\u003E\u003Cdiv class=\u0022highwire-figure\u0022\u003E\u003Cdiv class=\u0022fig-inline-img-wrapper\u0022\u003E\u003Cdiv class=\u0022fig-inline-img\u0022\u003E\u003Ca href=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F6.large.jpg?width=800\u0026amp;height=600\u0026amp;carousel=1\u0022 title=\u0022The measured strike impulse was compared with the prediction formulated from our mathematical model. (A) A representative rectified force recording (from individual 7, Table 1) illustrates a strike impulse calculation. (B) Strike impulse was calculated as the time integral of the maximum force peak near the start of the impact (0.95 g m s\u0026#x2013;1). (C) A representative strike simulated by our mathematical model, where the output (\u0026#x3B3;) and input (\u0026#x3B8;) angles were determined by solving the governing equation (Eqn 11), which models the torques that act on the striking body. (D) The linear momentum (P) for this simulation was calculated (Eqn 12) to formulate a prediction of the strike impulse. The predicted impulse was calculated as the maximum value for linear momentum (filled circle). (E) The model predicts values for strike impulse that are similar to what was measured. The bars denote the 95% confidence intervals about the mean (white line) with the error flags denoting the range of values.\u0022 class=\u0022highwire-fragment fragment-images colorbox-load\u0022 rel=\u0022gallery-fragment-images-826372270\u0022 data-figure-caption=\u0022\u0026lt;div class=\u0026quot;highwire-markup\u0026quot;\u0026gt;\u0026lt;div xmlns=\u0026quot;http:\/\/www.w3.org\/1999\/xhtml\u0026quot;\u0026gt;The measured strike impulse was compared with the prediction formulated from our mathematical model. (A) A representative rectified force recording (from individual 7, Table 1) illustrates a strike impulse calculation. (B) Strike impulse was calculated as the time integral of the maximum force peak near the start of the impact (0.95 g m s\u0026lt;sup\u0026gt;\u0026#x2013;1\u0026lt;\/sup\u0026gt;). (C) A representative strike simulated by our mathematical model, where the output (\u0026#x3B3;) and input (\u0026#x3B8;) angles were determined by solving the governing equation (Eqn 11), which models the torques that act on the striking body. (D) The linear momentum (\u0026lt;em\u0026gt;P\u0026lt;\/em\u0026gt;) for this simulation was calculated (Eqn 12) to formulate a prediction of the strike impulse. The predicted impulse was calculated as the maximum value for linear momentum (filled circle). (E) The model predicts values for strike impulse that are similar to what was measured. The bars denote the 95% confidence intervals about the mean (white line) with the error flags denoting the range of values.\u0026lt;\/div\u0026gt;\u0026lt;\/div\u0026gt;\u0022 data-icon-position=\u0022\u0022 data-hide-link-title=\u00220\u0022\u003E\u003Cspan class=\u0022hw-responsive-img\u0022\u003E\u003Cimg class=\u0022highwire-fragment fragment-image lazyload\u0022 alt=\u0022Fig. 6.\u0022 src=\u0022data:image\/gif;base64,R0lGODlhAQABAIAAAAAAAP\/\/\/yH5BAEAAAAALAAAAAABAAEAAAIBRAA7\u0022 data-src=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F6.medium.gif\u0022\/\u003E\u003Cnoscript\u003E\u003Cimg class=\u0022highwire-fragment fragment-image\u0022 alt=\u0022Fig. 6.\u0022 src=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F6.medium.gif\u0022\/\u003E\u003C\/noscript\u003E\u003C\/span\u003E\u003C\/a\u003E\u003C\/div\u003E\u003C\/div\u003E\u003Cul class=\u0022highwire-figure-links inline\u0022\u003E\u003Cli class=\u0022download-fig first\u0022\u003E\u003Ca href=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F6.large.jpg?download=true\u0022 class=\u0022highwire-figure-link highwire-figure-link-download\u0022 title=\u0022Download Fig. 6.\u0022 data-icon-position=\u0022\u0022 data-hide-link-title=\u00220\u0022\u003EDownload figure\u003C\/a\u003E\u003C\/li\u003E\u003Cli class=\u0022new-tab\u0022\u003E\u003Ca href=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F6.large.jpg\u0022 class=\u0022highwire-figure-link highwire-figure-link-newtab\u0022 target=\u0022_blank\u0022 data-icon-position=\u0022\u0022 data-hide-link-title=\u00220\u0022\u003EOpen in new tab\u003C\/a\u003E\u003C\/li\u003E\u003Cli class=\u0022download-ppt last\u0022\u003E\u003Ca href=\u0022\/highwire\/powerpoint\/1110304\u0022 class=\u0022highwire-figure-link highwire-figure-link-ppt\u0022 data-icon-position=\u0022\u0022 data-hide-link-title=\u00220\u0022\u003EDownload powerpoint\u003C\/a\u003E\u003C\/li\u003E\u003C\/ul\u003E\u003C\/div\u003E\u003Cdiv class=\u0022fig-caption\u0022 xmlns:xhtml=\u0022http:\/\/www.w3.org\/1999\/xhtml\u0022\u003E\u003Cspan class=\u0022fig-label\u0022\u003EFig. 6.\u003C\/span\u003E \n\u003Cp id=\u0022p-39\u0022\u003EThe measured strike impulse was compared with the prediction formulated from our mathematical model. (A) A representative rectified force recording (from individual 7, \u003Cspan id=\u0022xref-table-wrap-1-8\u0022 class=\u0022xref-table\u0022\u003ETable 1\u003C\/span\u003E) illustrates a strike impulse calculation. (B) Strike impulse was calculated as the time integral of the maximum force peak near the start of the impact (0.95 g m s\u003Csup\u003E\u20131\u003C\/sup\u003E). (C) A representative strike simulated by our mathematical model, where the output (\u03b3) and input (\u03b8) angles were determined by solving the governing equation (\u003Cspan id=\u0022xref-disp-formula-11-1\u0022 class=\u0022xref-disp-formula\u0022\u003EEqn 11\u003C\/span\u003E), which models the torques that act on the striking body. (D) The linear momentum (\u003Cem\u003EP\u003C\/em\u003E) for this simulation was calculated (\u003Cspan id=\u0022xref-disp-formula-12-2\u0022 class=\u0022xref-disp-formula\u0022\u003EEqn 12\u003C\/span\u003E) to formulate a prediction of the strike impulse. The predicted impulse was calculated as the maximum value for linear momentum (filled circle). (E) The model predicts values for strike impulse that are similar to what was measured. The bars denote the 95% confidence intervals about the mean (white line) with the error flags denoting the range of values.\u003C\/p\u003E\n\u003Cdiv class=\u0022sb-div caption-clear\u0022\u003E\u003C\/div\u003E\u003C\/div\u003E\u003Cspan class=\u0022highwire-journal-article-marker-end\u0022\u003E\u003C\/span\u003E\u003C\/div\u003E\u003Cspan id=\u0022related-urls\u0022\u003E\u003C\/span\u003E\u003C\/div\u003E\u003C\/div\u003E\u003C\/div\u003E\u003C\/li\u003E\u003Cli\u003E\u003Cdiv class=\u0022element-fig-frag-data clearfix supplementary-material-caption\u0022\u003E\u003Cdiv class=\u0022highwire-markup\u0022\u003E\u003Cdiv xmlns=\u0022http:\/\/www.w3.org\/1999\/xhtml\u0022 id=\u0022content-block-markup\u0022 xmlns:xhtml=\u0022http:\/\/www.w3.org\/1999\/xhtml\u0022\u003E\u003Cdiv class=\u0022fig-expansion\u0022 id=\u0022F7\u0022\u003E\u003Cspan class=\u0022highwire-journal-article-marker-start\u0022\u003E\u003C\/span\u003E\u003Cdiv class=\u0022highwire-figure\u0022\u003E\u003Cdiv class=\u0022fig-inline-img-wrapper\u0022\u003E\u003Cdiv class=\u0022fig-inline-img\u0022\u003E\u003Ca href=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F7.large.jpg?width=800\u0026amp;height=600\u0026amp;carousel=1\u0022 title=\u0022The energetics of a strike predicted by the mathematical model. These simulations used parameters values for individual 2 (Table 1) and differ only by including (A) or excluding (B) drag. (A) As the striking body swings to execute a strike, the elastic energy (red line) contained within the meral spring is converted into the kinetic energy of the striking body (orange line) and lost through the generation of drag (blue line). (B) A simulation that excludes the drag force demonstrates ideal conversion efficiency (\u0026#x3B7;=1.0), as all potential energy at the start of the simulation is applied to kinetic energy without loss.\u0022 class=\u0022highwire-fragment fragment-images colorbox-load\u0022 rel=\u0022gallery-fragment-images-826372270\u0022 data-figure-caption=\u0022\u0026lt;div class=\u0026quot;highwire-markup\u0026quot;\u0026gt;The energetics of a strike predicted by the mathematical model. These simulations used parameters values for individual 2 (Table 1) and differ only by including (A) or excluding (B) drag. (A) As the striking body swings to execute a strike, the elastic energy (red line) contained within the meral spring is converted into the kinetic energy of the striking body (orange line) and lost through the generation of drag (blue line). (B) A simulation that excludes the drag force demonstrates ideal conversion efficiency (\u0026#x3B7;=1.0), as all potential energy at the start of the simulation is applied to kinetic energy without loss.\u0026lt;\/div\u0026gt;\u0022 data-icon-position=\u0022\u0022 data-hide-link-title=\u00220\u0022\u003E\u003Cspan class=\u0022hw-responsive-img\u0022\u003E\u003Cimg class=\u0022highwire-fragment fragment-image lazyload\u0022 alt=\u0022Fig. 7.\u0022 src=\u0022data:image\/gif;base64,R0lGODlhAQABAIAAAAAAAP\/\/\/yH5BAEAAAAALAAAAAABAAEAAAIBRAA7\u0022 data-src=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F7.medium.gif\u0022\/\u003E\u003Cnoscript\u003E\u003Cimg class=\u0022highwire-fragment fragment-image\u0022 alt=\u0022Fig. 7.\u0022 src=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F7.medium.gif\u0022\/\u003E\u003C\/noscript\u003E\u003C\/span\u003E\u003C\/a\u003E\u003C\/div\u003E\u003C\/div\u003E\u003Cul class=\u0022highwire-figure-links inline\u0022\u003E\u003Cli class=\u0022download-fig first\u0022\u003E\u003Ca href=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F7.large.jpg?download=true\u0022 class=\u0022highwire-figure-link highwire-figure-link-download\u0022 title=\u0022Download Fig. 7.\u0022 data-icon-position=\u0022\u0022 data-hide-link-title=\u00220\u0022\u003EDownload figure\u003C\/a\u003E\u003C\/li\u003E\u003Cli class=\u0022new-tab\u0022\u003E\u003Ca href=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F7.large.jpg\u0022 class=\u0022highwire-figure-link highwire-figure-link-newtab\u0022 target=\u0022_blank\u0022 data-icon-position=\u0022\u0022 data-hide-link-title=\u00220\u0022\u003EOpen in new tab\u003C\/a\u003E\u003C\/li\u003E\u003Cli class=\u0022download-ppt last\u0022\u003E\u003Ca href=\u0022\/highwire\/powerpoint\/1110306\u0022 class=\u0022highwire-figure-link highwire-figure-link-ppt\u0022 data-icon-position=\u0022\u0022 data-hide-link-title=\u00220\u0022\u003EDownload powerpoint\u003C\/a\u003E\u003C\/li\u003E\u003C\/ul\u003E\u003C\/div\u003E\u003Cdiv class=\u0022fig-caption\u0022 xmlns:xhtml=\u0022http:\/\/www.w3.org\/1999\/xhtml\u0022\u003E\u003Cspan class=\u0022fig-label\u0022\u003EFig. 7.\u003C\/span\u003E \n\u003Cp id=\u0022p-43\u0022\u003EThe energetics of a strike predicted by the mathematical model. These simulations used parameters values for individual 2 (\u003Cspan id=\u0022xref-table-wrap-1-9\u0022 class=\u0022xref-table\u0022\u003ETable 1\u003C\/span\u003E) and differ only by including (A) or excluding (B) drag. (A) As the striking body swings to execute a strike, the elastic energy (red line) contained within the meral spring is converted into the kinetic energy of the striking body (orange line) and lost through the generation of drag (blue line). (B) A simulation that excludes the drag force demonstrates ideal conversion efficiency (\u03b7=1.0), as all potential energy at the start of the simulation is applied to kinetic energy without loss.\u003C\/p\u003E\n\u003Cdiv class=\u0022sb-div caption-clear\u0022\u003E\u003C\/div\u003E\u003C\/div\u003E\u003Cspan class=\u0022highwire-journal-article-marker-end\u0022\u003E\u003C\/span\u003E\u003C\/div\u003E\u003Cspan id=\u0022related-urls\u0022\u003E\u003C\/span\u003E\u003C\/div\u003E\u003C\/div\u003E\u003C\/div\u003E\u003C\/li\u003E\u003Cli\u003E\u003Cdiv class=\u0022element-fig-frag-data clearfix supplementary-material-caption\u0022\u003E\u003Cdiv class=\u0022highwire-markup\u0022\u003E\u003Cdiv xmlns=\u0022http:\/\/www.w3.org\/1999\/xhtml\u0022 id=\u0022content-block-markup\u0022 xmlns:xhtml=\u0022http:\/\/www.w3.org\/1999\/xhtml\u0022\u003E\u003Cdiv class=\u0022fig-expansion\u0022 id=\u0022F8\u0022\u003E\u003Cspan class=\u0022highwire-journal-article-marker-start\u0022\u003E\u003C\/span\u003E\u003Cdiv class=\u0022highwire-figure\u0022\u003E\u003Cdiv class=\u0022fig-inline-img-wrapper\u0022\u003E\u003Cdiv class=\u0022fig-inline-img\u0022\u003E\u003Ca href=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F8.large.jpg?width=800\u0026amp;height=600\u0026amp;carousel=1\u0022 title=\u0022Effects of spring stiffness on strike performance. Each colored curve represents simulation results for a series of simulations that were based on an individual stomatopod (the numbers in A correspond to individuals listed in Table 1). These results were formulated from 10 simulations that differ only by increasing spring stiffness (up to an additional 0.013 N m deg\u0026#x2013;1) above the measured value for an individual (Table 1) at even intervals. These simulations were conducted both without (i) and with (ii) drag. For simulations without drag, an analytical model of strike energetics predicted the simulation results for rotation speed (Eqn 17) and momentum (Eqn 18). No analytical solution was found for simulations that included drag. (A) The maximum angular speed predicted during a simulation without drag (i) and with drag (ii). The inset shows how simulation results (points) may be predicted by the analytical model (line; Eqn 17). For each set of simulations, the (B) angular momentum and (C) time required to reach the maximum speed of the striking body are shown. Additional symbol definitions are provided in the List of symbols and are described in the Materials and methods.\u0022 class=\u0022highwire-fragment fragment-images colorbox-load\u0022 rel=\u0022gallery-fragment-images-826372270\u0022 data-figure-caption=\u0022\u0026lt;div class=\u0026quot;highwire-markup\u0026quot;\u0026gt;\u0026lt;div xmlns=\u0026quot;http:\/\/www.w3.org\/1999\/xhtml\u0026quot;\u0026gt;Effects of spring stiffness on strike performance. Each colored curve represents simulation results for a series of simulations that were based on an individual stomatopod (the numbers in A correspond to individuals listed in Table 1). These results were formulated from 10 simulations that differ only by increasing spring stiffness (up to an additional 0.013 N m deg\u0026lt;sup\u0026gt;\u0026#x2013;1\u0026lt;\/sup\u0026gt;) above the measured value for an individual (Table 1) at even intervals. These simulations were conducted both without (i) and with (ii) drag. For simulations without drag, an analytical model of strike energetics predicted the simulation results for rotation speed (Eqn 17) and momentum (Eqn 18). No analytical solution was found for simulations that included drag. (A) The maximum angular speed predicted during a simulation without drag (i) and with drag (ii). The inset shows how simulation results (points) may be predicted by the analytical model (line; Eqn 17). For each set of simulations, the (B) angular momentum and (C) time required to reach the maximum speed of the striking body are shown. Additional symbol definitions are provided in the List of symbols and are described in the Materials and methods.\u0026lt;\/div\u0026gt;\u0026lt;\/div\u0026gt;\u0022 data-icon-position=\u0022\u0022 data-hide-link-title=\u00220\u0022\u003E\u003Cspan class=\u0022hw-responsive-img\u0022\u003E\u003Cimg class=\u0022highwire-fragment fragment-image lazyload\u0022 alt=\u0022Fig. 8.\u0022 src=\u0022data:image\/gif;base64,R0lGODlhAQABAIAAAAAAAP\/\/\/yH5BAEAAAAALAAAAAABAAEAAAIBRAA7\u0022 data-src=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F8.medium.gif\u0022\/\u003E\u003Cnoscript\u003E\u003Cimg class=\u0022highwire-fragment fragment-image\u0022 alt=\u0022Fig. 8.\u0022 src=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F8.medium.gif\u0022\/\u003E\u003C\/noscript\u003E\u003C\/span\u003E\u003C\/a\u003E\u003C\/div\u003E\u003C\/div\u003E\u003Cul class=\u0022highwire-figure-links inline\u0022\u003E\u003Cli class=\u0022download-fig first\u0022\u003E\u003Ca href=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F8.large.jpg?download=true\u0022 class=\u0022highwire-figure-link highwire-figure-link-download\u0022 title=\u0022Download Fig. 8.\u0022 data-icon-position=\u0022\u0022 data-hide-link-title=\u00220\u0022\u003EDownload figure\u003C\/a\u003E\u003C\/li\u003E\u003Cli class=\u0022new-tab\u0022\u003E\u003Ca href=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F8.large.jpg\u0022 class=\u0022highwire-figure-link highwire-figure-link-newtab\u0022 target=\u0022_blank\u0022 data-icon-position=\u0022\u0022 data-hide-link-title=\u00220\u0022\u003EOpen in new tab\u003C\/a\u003E\u003C\/li\u003E\u003Cli class=\u0022download-ppt last\u0022\u003E\u003Ca href=\u0022\/highwire\/powerpoint\/1110307\u0022 class=\u0022highwire-figure-link highwire-figure-link-ppt\u0022 data-icon-position=\u0022\u0022 data-hide-link-title=\u00220\u0022\u003EDownload powerpoint\u003C\/a\u003E\u003C\/li\u003E\u003C\/ul\u003E\u003C\/div\u003E\u003Cdiv class=\u0022fig-caption\u0022 xmlns:xhtml=\u0022http:\/\/www.w3.org\/1999\/xhtml\u0022\u003E\u003Cspan class=\u0022fig-label\u0022\u003EFig. 8.\u003C\/span\u003E \n\u003Cp id=\u0022p-44\u0022\u003EEffects of spring stiffness on strike performance. Each colored curve represents simulation results for a series of simulations that were based on an individual stomatopod (the numbers in A correspond to individuals listed in \u003Cspan id=\u0022xref-table-wrap-1-10\u0022 class=\u0022xref-table\u0022\u003ETable 1\u003C\/span\u003E). These results were formulated from 10 simulations that differ only by increasing spring stiffness (up to an additional 0.013 N m deg\u003Csup\u003E\u20131\u003C\/sup\u003E) above the measured value for an individual (\u003Cspan id=\u0022xref-table-wrap-1-11\u0022 class=\u0022xref-table\u0022\u003ETable 1\u003C\/span\u003E) at even intervals. These simulations were conducted both without (i) and with (ii) drag. For simulations without drag, an analytical model of strike energetics predicted the simulation results for rotation speed (\u003Cspan id=\u0022xref-disp-formula-17-5\u0022 class=\u0022xref-disp-formula\u0022\u003EEqn 17\u003C\/span\u003E) and momentum (\u003Cspan id=\u0022xref-disp-formula-18-3\u0022 class=\u0022xref-disp-formula\u0022\u003EEqn 18\u003C\/span\u003E). No analytical solution was found for simulations that included drag. (A) The maximum angular speed predicted during a simulation without drag (i) and with drag (ii). The inset shows how simulation results (points) may be predicted by the analytical model (line; \u003Cspan id=\u0022xref-disp-formula-17-6\u0022 class=\u0022xref-disp-formula\u0022\u003EEqn 17\u003C\/span\u003E). For each set of simulations, the (B) angular momentum and (C) time required to reach the maximum speed of the striking body are shown. Additional symbol definitions are provided in the List of symbols and are described in the Materials and methods.\u003C\/p\u003E\n\u003Cdiv class=\u0022sb-div caption-clear\u0022\u003E\u003C\/div\u003E\u003C\/div\u003E\u003Cspan class=\u0022highwire-journal-article-marker-end\u0022\u003E\u003C\/span\u003E\u003C\/div\u003E\u003Cspan id=\u0022related-urls\u0022\u003E\u003C\/span\u003E\u003C\/div\u003E\u003C\/div\u003E\u003C\/div\u003E\u003C\/li\u003E\u003Cli\u003E\u003Cdiv class=\u0022element-fig-frag-data clearfix supplementary-material-caption\u0022\u003E\u003Cdiv class=\u0022highwire-markup\u0022\u003E\u003Cdiv xmlns=\u0022http:\/\/www.w3.org\/1999\/xhtml\u0022 id=\u0022content-block-markup\u0022 xmlns:xhtml=\u0022http:\/\/www.w3.org\/1999\/xhtml\u0022\u003E\u003Cdiv class=\u0022fig-expansion\u0022 id=\u0022F9\u0022\u003E\u003Cspan class=\u0022highwire-journal-article-marker-start\u0022\u003E\u003C\/span\u003E\u003Cdiv class=\u0022highwire-figure\u0022\u003E\u003Cdiv class=\u0022fig-inline-img-wrapper\u0022\u003E\u003Cdiv class=\u0022fig-inline-img\u0022\u003E\u003Ca href=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F9.large.jpg?width=800\u0026amp;height=600\u0026amp;carousel=1\u0022 title=\u0022The effects of differences in the mass of the striking body on strike performance. In these plots, the mass of the striking body was increased (up to 0.25 g) above the measured value for each individual (the numbers in A correspond to individuals listed in Table 1), over 10 simulations at even intervals. Simulations were run both without (i) and with (ii) drag. For simulations without drag, an analytical model of strike energetics predicted the simulation results for speed (Eqn 17) and momentum (Eqn 18). No analytical solution was found for simulations that included drag. For each set of simulations, the (A) maximum angular speed, (B) angular momentum and (C) time required to reach the maximum speed of the striking body are shown. Additional symbol definitions are provided in the List of symbols and are described in the Materials and methods.\u0022 class=\u0022highwire-fragment fragment-images colorbox-load\u0022 rel=\u0022gallery-fragment-images-826372270\u0022 data-figure-caption=\u0022\u0026lt;div class=\u0026quot;highwire-markup\u0026quot;\u0026gt;The effects of differences in the mass of the striking body on strike performance. In these plots, the mass of the striking body was increased (up to 0.25 g) above the measured value for each individual (the numbers in A correspond to individuals listed in Table 1), over 10 simulations at even intervals. Simulations were run both without (i) and with (ii) drag. For simulations without drag, an analytical model of strike energetics predicted the simulation results for speed (Eqn 17) and momentum (Eqn 18). No analytical solution was found for simulations that included drag. For each set of simulations, the (A) maximum angular speed, (B) angular momentum and (C) time required to reach the maximum speed of the striking body are shown. Additional symbol definitions are provided in the List of symbols and are described in the Materials and methods.\u0026lt;\/div\u0026gt;\u0022 data-icon-position=\u0022\u0022 data-hide-link-title=\u00220\u0022\u003E\u003Cspan class=\u0022hw-responsive-img\u0022\u003E\u003Cimg class=\u0022highwire-fragment fragment-image lazyload\u0022 alt=\u0022Fig. 9.\u0022 src=\u0022data:image\/gif;base64,R0lGODlhAQABAIAAAAAAAP\/\/\/yH5BAEAAAAALAAAAAABAAEAAAIBRAA7\u0022 data-src=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F9.medium.gif\u0022\/\u003E\u003Cnoscript\u003E\u003Cimg class=\u0022highwire-fragment fragment-image\u0022 alt=\u0022Fig. 9.\u0022 src=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F9.medium.gif\u0022\/\u003E\u003C\/noscript\u003E\u003C\/span\u003E\u003C\/a\u003E\u003C\/div\u003E\u003C\/div\u003E\u003Cul class=\u0022highwire-figure-links inline\u0022\u003E\u003Cli class=\u0022download-fig first\u0022\u003E\u003Ca href=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F9.large.jpg?download=true\u0022 class=\u0022highwire-figure-link highwire-figure-link-download\u0022 title=\u0022Download Fig. 9.\u0022 data-icon-position=\u0022\u0022 data-hide-link-title=\u00220\u0022\u003EDownload figure\u003C\/a\u003E\u003C\/li\u003E\u003Cli class=\u0022new-tab\u0022\u003E\u003Ca href=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F9.large.jpg\u0022 class=\u0022highwire-figure-link highwire-figure-link-newtab\u0022 target=\u0022_blank\u0022 data-icon-position=\u0022\u0022 data-hide-link-title=\u00220\u0022\u003EOpen in new tab\u003C\/a\u003E\u003C\/li\u003E\u003Cli class=\u0022download-ppt last\u0022\u003E\u003Ca href=\u0022\/highwire\/powerpoint\/1110363\u0022 class=\u0022highwire-figure-link highwire-figure-link-ppt\u0022 data-icon-position=\u0022\u0022 data-hide-link-title=\u00220\u0022\u003EDownload powerpoint\u003C\/a\u003E\u003C\/li\u003E\u003C\/ul\u003E\u003C\/div\u003E\u003Cdiv class=\u0022fig-caption\u0022 xmlns:xhtml=\u0022http:\/\/www.w3.org\/1999\/xhtml\u0022\u003E\u003Cspan class=\u0022fig-label\u0022\u003EFig. 9.\u003C\/span\u003E \n\u003Cp id=\u0022p-49\u0022\u003EThe effects of differences in the mass of the striking body on strike performance. In these plots, the mass of the striking body was increased (up to 0.25 g) above the measured value for each individual (the numbers in A correspond to individuals listed in \u003Cspan id=\u0022xref-table-wrap-1-13\u0022 class=\u0022xref-table\u0022\u003ETable 1\u003C\/span\u003E), over 10 simulations at even intervals. Simulations were run both without (i) and with (ii) drag. For simulations without drag, an analytical model of strike energetics predicted the simulation results for speed (\u003Cspan id=\u0022xref-disp-formula-17-8\u0022 class=\u0022xref-disp-formula\u0022\u003EEqn 17\u003C\/span\u003E) and momentum (\u003Cspan id=\u0022xref-disp-formula-18-4\u0022 class=\u0022xref-disp-formula\u0022\u003EEqn 18\u003C\/span\u003E). No analytical solution was found for simulations that included drag. For each set of simulations, the (A) maximum angular speed, (B) angular momentum and (C) time required to reach the maximum speed of the striking body are shown. Additional symbol definitions are provided in the List of symbols and are described in the Materials and methods.\u003C\/p\u003E\n\u003Cdiv class=\u0022sb-div caption-clear\u0022\u003E\u003C\/div\u003E\u003C\/div\u003E\u003Cspan class=\u0022highwire-journal-article-marker-end\u0022\u003E\u003C\/span\u003E\u003C\/div\u003E\u003Cspan id=\u0022related-urls\u0022\u003E\u003C\/span\u003E\u003C\/div\u003E\u003C\/div\u003E\u003C\/div\u003E\u003C\/li\u003E\u003Cli\u003E\u003Cdiv class=\u0022element-fig-frag-data clearfix supplementary-material-caption\u0022\u003E\u003Cdiv class=\u0022highwire-markup\u0022\u003E\u003Cdiv xmlns=\u0022http:\/\/www.w3.org\/1999\/xhtml\u0022 id=\u0022content-block-markup\u0022 xmlns:xhtml=\u0022http:\/\/www.w3.org\/1999\/xhtml\u0022\u003E\u003Cdiv class=\u0022fig-expansion\u0022 id=\u0022F10\u0022\u003E\u003Cspan class=\u0022highwire-journal-article-marker-start\u0022\u003E\u003C\/span\u003E\u003Cdiv class=\u0022highwire-figure\u0022\u003E\u003Cdiv class=\u0022fig-inline-img-wrapper\u0022\u003E\u003Cdiv class=\u0022fig-inline-img\u0022\u003E\u003Ca href=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F10.large.jpg?width=800\u0026amp;height=600\u0026amp;carousel=1\u0022 title=\u0022Simulations that compare the performance of two linkage systems with different Tk. The only parameter that differed between these two simulations was the length of link 3 (Fig. 1C). All other parameter values were set to measured values from a single individual (individual 4, Table 1). The high-Tk simulation (i) was generated by decreasing the length of link 3 (l3=0.55 mm) and the low-Tk simulation (ii) used a longer length for the same link (l3=0.95 mm). (A) Predicted changes in input angle (purple line) and the speed of the input angle (green line) are plotted as a function of time. (B) The corresponding output angle (purple line) and speed of the output angle (green line). (C) The power output of the striking body and the (D) elastic energy (red line), kinetic energy (orange line) and the energy lost to drag (blue line) are plotted. Note that both simulations begin with equivalent stored elastic energy (horizontal gray line). Additional symbol definitions are provided in the List of symbols and are described in the Materials and methods.\u0022 class=\u0022highwire-fragment fragment-images colorbox-load\u0022 rel=\u0022gallery-fragment-images-826372270\u0022 data-figure-caption=\u0022\u0026lt;div class=\u0026quot;highwire-markup\u0026quot;\u0026gt;\u0026lt;div xmlns=\u0026quot;http:\/\/www.w3.org\/1999\/xhtml\u0026quot;\u0026gt;Simulations that compare the performance of two linkage systems with different \u0026lt;em\u0026gt;T\u0026lt;\/em\u0026gt;\u0026lt;sub\u0026gt;k\u0026lt;\/sub\u0026gt;. The only parameter that differed between these two simulations was the length of link 3 (Fig. 1C). All other parameter values were set to measured values from a single individual (individual 4, Table 1). The high-\u0026lt;em\u0026gt;T\u0026lt;\/em\u0026gt;\u0026lt;sub\u0026gt;k\u0026lt;\/sub\u0026gt; simulation (i) was generated by decreasing the length of link 3 (\u0026lt;em\u0026gt;l\u0026lt;\/em\u0026gt;\u0026lt;sub\u0026gt;3\u0026lt;\/sub\u0026gt;=0.55 mm) and the low-\u0026lt;em\u0026gt;T\u0026lt;\/em\u0026gt;\u0026lt;sub\u0026gt;k\u0026lt;\/sub\u0026gt; simulation (ii) used a longer length for the same link (\u0026lt;em\u0026gt;l\u0026lt;\/em\u0026gt;\u0026lt;sub\u0026gt;3\u0026lt;\/sub\u0026gt;=0.95 mm). (A) Predicted changes in input angle (purple line) and the speed of the input angle (green line) are plotted as a function of time. (B) The corresponding output angle (purple line) and speed of the output angle (green line). (C) The power output of the striking body and the (D) elastic energy (red line), kinetic energy (orange line) and the energy lost to drag (blue line) are plotted. Note that both simulations begin with equivalent stored elastic energy (horizontal gray line). Additional symbol definitions are provided in the List of symbols and are described in the Materials and methods.\u0026lt;\/div\u0026gt;\u0026lt;\/div\u0026gt;\u0022 data-icon-position=\u0022\u0022 data-hide-link-title=\u00220\u0022\u003E\u003Cspan class=\u0022hw-responsive-img\u0022\u003E\u003Cimg class=\u0022highwire-fragment fragment-image lazyload\u0022 alt=\u0022Fig. 10.\u0022 src=\u0022data:image\/gif;base64,R0lGODlhAQABAIAAAAAAAP\/\/\/yH5BAEAAAAALAAAAAABAAEAAAIBRAA7\u0022 data-src=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F10.medium.gif\u0022\/\u003E\u003Cnoscript\u003E\u003Cimg class=\u0022highwire-fragment fragment-image\u0022 alt=\u0022Fig. 10.\u0022 src=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F10.medium.gif\u0022\/\u003E\u003C\/noscript\u003E\u003C\/span\u003E\u003C\/a\u003E\u003C\/div\u003E\u003C\/div\u003E\u003Cul class=\u0022highwire-figure-links inline\u0022\u003E\u003Cli class=\u0022download-fig first\u0022\u003E\u003Ca href=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F10.large.jpg?download=true\u0022 class=\u0022highwire-figure-link highwire-figure-link-download\u0022 title=\u0022Download Fig. 10.\u0022 data-icon-position=\u0022\u0022 data-hide-link-title=\u00220\u0022\u003EDownload figure\u003C\/a\u003E\u003C\/li\u003E\u003Cli class=\u0022new-tab\u0022\u003E\u003Ca href=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F10.large.jpg\u0022 class=\u0022highwire-figure-link highwire-figure-link-newtab\u0022 target=\u0022_blank\u0022 data-icon-position=\u0022\u0022 data-hide-link-title=\u00220\u0022\u003EOpen in new tab\u003C\/a\u003E\u003C\/li\u003E\u003Cli class=\u0022download-ppt last\u0022\u003E\u003Ca href=\u0022\/highwire\/powerpoint\/1110357\u0022 class=\u0022highwire-figure-link highwire-figure-link-ppt\u0022 data-icon-position=\u0022\u0022 data-hide-link-title=\u00220\u0022\u003EDownload powerpoint\u003C\/a\u003E\u003C\/li\u003E\u003C\/ul\u003E\u003C\/div\u003E\u003Cdiv class=\u0022fig-caption\u0022 xmlns:xhtml=\u0022http:\/\/www.w3.org\/1999\/xhtml\u0022\u003E\u003Cspan class=\u0022fig-label\u0022\u003EFig. 10.\u003C\/span\u003E \n\u003Cp id=\u0022p-55\u0022\u003ESimulations that compare the performance of two linkage systems with different \u003Cem\u003ET\u003C\/em\u003E\u003Csub\u003Ek\u003C\/sub\u003E. The only parameter that differed between these two simulations was the length of link 3 (\u003Cspan id=\u0022xref-fig-1-22\u0022 class=\u0022xref-fig\u0022\u003EFig. 1C\u003C\/span\u003E). All other parameter values were set to measured values from a single individual (individual 4, \u003Cspan id=\u0022xref-table-wrap-1-14\u0022 class=\u0022xref-table\u0022\u003ETable 1\u003C\/span\u003E). The high-\u003Cem\u003ET\u003C\/em\u003E\u003Csub\u003Ek\u003C\/sub\u003E simulation (i) was generated by decreasing the length of link 3 (\u003Cem\u003El\u003C\/em\u003E\u003Csub\u003E3\u003C\/sub\u003E=0.55 mm) and the low-\u003Cem\u003ET\u003C\/em\u003E\u003Csub\u003Ek\u003C\/sub\u003E simulation (ii) used a longer length for the same link (\u003Cem\u003El\u003C\/em\u003E\u003Csub\u003E3\u003C\/sub\u003E=0.95 mm). (A) Predicted changes in input angle (purple line) and the speed of the input angle (green line) are plotted as a function of time. (B) The corresponding output angle (purple line) and speed of the output angle (green line). (C) The power output of the striking body and the (D) elastic energy (red line), kinetic energy (orange line) and the energy lost to drag (blue line) are plotted. Note that both simulations begin with equivalent stored elastic energy (horizontal gray line). Additional symbol definitions are provided in the List of symbols and are described in the Materials and methods.\u003C\/p\u003E\n\u003Cdiv class=\u0022sb-div caption-clear\u0022\u003E\u003C\/div\u003E\u003C\/div\u003E\u003Cspan class=\u0022highwire-journal-article-marker-end\u0022\u003E\u003C\/span\u003E\u003C\/div\u003E\u003Cspan id=\u0022related-urls\u0022\u003E\u003C\/span\u003E\u003C\/div\u003E\u003C\/div\u003E\u003C\/div\u003E\u003C\/li\u003E\u003Cli\u003E\u003Cdiv class=\u0022element-fig-frag-data clearfix supplementary-material-caption\u0022\u003E\u003Cdiv class=\u0022highwire-markup\u0022\u003E\u003Cdiv xmlns=\u0022http:\/\/www.w3.org\/1999\/xhtml\u0022 id=\u0022content-block-markup\u0022 xmlns:xhtml=\u0022http:\/\/www.w3.org\/1999\/xhtml\u0022\u003E\u003Cdiv class=\u0022fig-expansion\u0022 id=\u0022F11\u0022\u003E\u003Cspan class=\u0022highwire-journal-article-marker-start\u0022\u003E\u003C\/span\u003E\u003Cdiv class=\u0022highwire-figure\u0022\u003E\u003Cdiv class=\u0022fig-inline-img-wrapper\u0022\u003E\u003Cdiv class=\u0022fig-inline-img\u0022\u003E\u003Ca href=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F11.large.jpg?width=800\u0026amp;height=600\u0026amp;carousel=1\u0022 title=\u0022The generation of drag energy in models that differ in Tk. The torque created by drag is plotted as a function of output angle for the high- and low-Tk simulations displayed in Fig. 10. As the output angle increased in these simulations over time, the drag torque increased. The area under the curve created by these variables is equivalent to the energy lost to drag (Eqn 16). Differences in this loss of energy affect the transmission efficiency of a strike (\u0026#x3B7;; Eqn 19).\u0022 class=\u0022highwire-fragment fragment-images colorbox-load\u0022 rel=\u0022gallery-fragment-images-826372270\u0022 data-figure-caption=\u0022\u0026lt;div class=\u0026quot;highwire-markup\u0026quot;\u0026gt;\u0026lt;div xmlns=\u0026quot;http:\/\/www.w3.org\/1999\/xhtml\u0026quot;\u0026gt;The generation of drag energy in models that differ in \u0026lt;em\u0026gt;T\u0026lt;\/em\u0026gt;\u0026lt;sub\u0026gt;k\u0026lt;\/sub\u0026gt;. The torque created by drag is plotted as a function of output angle for the high- and low-\u0026lt;em\u0026gt;T\u0026lt;\/em\u0026gt;\u0026lt;sub\u0026gt;k\u0026lt;\/sub\u0026gt; simulations displayed in Fig. 10. As the output angle increased in these simulations over time, the drag torque increased. The area under the curve created by these variables is equivalent to the energy lost to drag (Eqn 16). Differences in this loss of energy affect the transmission efficiency of a strike (\u0026#x3B7;; Eqn 19).\u0026lt;\/div\u0026gt;\u0026lt;\/div\u0026gt;\u0022 data-icon-position=\u0022\u0022 data-hide-link-title=\u00220\u0022\u003E\u003Cspan class=\u0022hw-responsive-img\u0022\u003E\u003Cimg class=\u0022highwire-fragment fragment-image lazyload\u0022 alt=\u0022Fig. 11.\u0022 src=\u0022data:image\/gif;base64,R0lGODlhAQABAIAAAAAAAP\/\/\/yH5BAEAAAAALAAAAAABAAEAAAIBRAA7\u0022 data-src=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F11.medium.gif\u0022\/\u003E\u003Cnoscript\u003E\u003Cimg class=\u0022highwire-fragment fragment-image\u0022 alt=\u0022Fig. 11.\u0022 src=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F11.medium.gif\u0022\/\u003E\u003C\/noscript\u003E\u003C\/span\u003E\u003C\/a\u003E\u003C\/div\u003E\u003C\/div\u003E\u003Cul class=\u0022highwire-figure-links inline\u0022\u003E\u003Cli class=\u0022download-fig first\u0022\u003E\u003Ca href=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F11.large.jpg?download=true\u0022 class=\u0022highwire-figure-link highwire-figure-link-download\u0022 title=\u0022Download Fig. 11.\u0022 data-icon-position=\u0022\u0022 data-hide-link-title=\u00220\u0022\u003EDownload figure\u003C\/a\u003E\u003C\/li\u003E\u003Cli class=\u0022new-tab\u0022\u003E\u003Ca href=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F11.large.jpg\u0022 class=\u0022highwire-figure-link highwire-figure-link-newtab\u0022 target=\u0022_blank\u0022 data-icon-position=\u0022\u0022 data-hide-link-title=\u00220\u0022\u003EOpen in new tab\u003C\/a\u003E\u003C\/li\u003E\u003Cli class=\u0022download-ppt last\u0022\u003E\u003Ca href=\u0022\/highwire\/powerpoint\/1110359\u0022 class=\u0022highwire-figure-link highwire-figure-link-ppt\u0022 data-icon-position=\u0022\u0022 data-hide-link-title=\u00220\u0022\u003EDownload powerpoint\u003C\/a\u003E\u003C\/li\u003E\u003C\/ul\u003E\u003C\/div\u003E\u003Cdiv class=\u0022fig-caption\u0022 xmlns:xhtml=\u0022http:\/\/www.w3.org\/1999\/xhtml\u0022\u003E\u003Cspan class=\u0022fig-label\u0022\u003EFig. 11.\u003C\/span\u003E \n\u003Cp id=\u0022p-59\u0022\u003EThe generation of drag energy in models that differ in \u003Cem\u003ET\u003C\/em\u003E\u003Csub\u003Ek\u003C\/sub\u003E. The torque created by drag is plotted as a function of output angle for the high- and low-\u003Cem\u003ET\u003C\/em\u003E\u003Csub\u003Ek\u003C\/sub\u003E simulations displayed in \u003Cspan id=\u0022xref-fig-10-7\u0022 class=\u0022xref-fig\u0022\u003EFig. 10\u003C\/span\u003E. As the output angle increased in these simulations over time, the drag torque increased. The area under the curve created by these variables is equivalent to the energy lost to drag (\u003Cspan id=\u0022xref-disp-formula-16-2\u0022 class=\u0022xref-disp-formula\u0022\u003EEqn 16\u003C\/span\u003E). Differences in this loss of energy affect the transmission efficiency of a strike (\u03b7; \u003Cspan id=\u0022xref-disp-formula-19-2\u0022 class=\u0022xref-disp-formula\u0022\u003EEqn 19\u003C\/span\u003E).\u003C\/p\u003E\n\u003Cdiv class=\u0022sb-div caption-clear\u0022\u003E\u003C\/div\u003E\u003C\/div\u003E\u003Cspan class=\u0022highwire-journal-article-marker-end\u0022\u003E\u003C\/span\u003E\u003C\/div\u003E\u003Cspan id=\u0022related-urls\u0022\u003E\u003C\/span\u003E\u003C\/div\u003E\u003C\/div\u003E\u003C\/div\u003E\u003C\/li\u003E\u003Cli class=\u0022last\u0022\u003E\u003Cdiv class=\u0022element-fig-frag-data clearfix supplementary-material-caption\u0022\u003E\u003Cdiv class=\u0022highwire-markup\u0022\u003E\u003Cdiv xmlns=\u0022http:\/\/www.w3.org\/1999\/xhtml\u0022 id=\u0022content-block-markup\u0022 xmlns:xhtml=\u0022http:\/\/www.w3.org\/1999\/xhtml\u0022\u003E\u003Cdiv class=\u0022fig-expansion\u0022 id=\u0022F12\u0022\u003E\u003Cspan class=\u0022highwire-journal-article-marker-start\u0022\u003E\u003C\/span\u003E\u003Cdiv class=\u0022highwire-figure\u0022\u003E\u003Cdiv class=\u0022fig-inline-img-wrapper\u0022\u003E\u003Cdiv class=\u0022fig-inline-img\u0022\u003E\u003Ca href=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F12.large.jpg?width=800\u0026amp;height=600\u0026amp;carousel=1\u0022 title=\u0022The effect of Tk on strike performance. Ten simulations were performed with equivalent parameter values (those for individual 3, Table 1), except for an incremental decrease in the length of link 3 (0.54 mm\u0022 class=\u0022highwire-fragment fragment-images colorbox-load\u0022 rel=\u0022gallery-fragment-images-826372270\u0022 data-figure-caption=\u0022\u0026lt;div class=\u0026quot;highwire-markup\u0026quot;\u0026gt;\u0026lt;div xmlns=\u0026quot;http:\/\/www.w3.org\/1999\/xhtml\u0026quot;\u0026gt;The effect of \u0026lt;em\u0026gt;T\u0026lt;\/em\u0026gt;\u0026lt;sub\u0026gt;k\u0026lt;\/sub\u0026gt; on strike performance. Ten simulations were performed with equivalent parameter values (those for individual 3, Table 1), except for an incremental decrease in the length of link 3 (0.54 mm\u0026lt;\u0026lt;em\u0026gt;l\u0026lt;\/em\u0026gt;\u0026lt;sub\u0026gt;3\u0026lt;\/sub\u0026gt;\u0026lt;0.95 mm) at regular intervals, which served to vary \u0026lt;em\u0026gt;T\u0026lt;\/em\u0026gt;\u0026lt;sub\u0026gt;k,min\u0026lt;\/sub\u0026gt;. Therefore, all simulations began with equivalent elastic energy storage (13.2 mJ). These simulations were run both with drag (purple lines) and without drag (green lines). (A) The time to maximum speed is plotted with respect to the minimum \u0026lt;em\u0026gt;T\u0026lt;\/em\u0026gt;\u0026lt;sub\u0026gt;k\u0026lt;\/sub\u0026gt; generated by each simulation. For the same simulations, the (B) maximum speed of the input angle and (C) the maximum power output of the striking body are plotted. (D) The maximum rotation speed (solid lines) is overlaid with the transmission efficiency (dashed lines).\u0026lt;\/div\u0026gt;\u0026lt;\/div\u0026gt;\u0022 data-icon-position=\u0022\u0022 data-hide-link-title=\u00220\u0022\u003E\u003Cspan class=\u0022hw-responsive-img\u0022\u003E\u003Cimg class=\u0022highwire-fragment fragment-image lazyload\u0022 alt=\u0022Fig. 12.\u0022 src=\u0022data:image\/gif;base64,R0lGODlhAQABAIAAAAAAAP\/\/\/yH5BAEAAAAALAAAAAABAAEAAAIBRAA7\u0022 data-src=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F12.medium.gif\u0022\/\u003E\u003Cnoscript\u003E\u003Cimg class=\u0022highwire-fragment fragment-image\u0022 alt=\u0022Fig. 12.\u0022 src=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F12.medium.gif\u0022\/\u003E\u003C\/noscript\u003E\u003C\/span\u003E\u003C\/a\u003E\u003C\/div\u003E\u003C\/div\u003E\u003Cul class=\u0022highwire-figure-links inline\u0022\u003E\u003Cli class=\u0022download-fig first\u0022\u003E\u003Ca href=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F12.large.jpg?download=true\u0022 class=\u0022highwire-figure-link highwire-figure-link-download\u0022 title=\u0022Download Fig. 12.\u0022 data-icon-position=\u0022\u0022 data-hide-link-title=\u00220\u0022\u003EDownload figure\u003C\/a\u003E\u003C\/li\u003E\u003Cli class=\u0022new-tab\u0022\u003E\u003Ca href=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/F12.large.jpg\u0022 class=\u0022highwire-figure-link highwire-figure-link-newtab\u0022 target=\u0022_blank\u0022 data-icon-position=\u0022\u0022 data-hide-link-title=\u00220\u0022\u003EOpen in new tab\u003C\/a\u003E\u003C\/li\u003E\u003Cli class=\u0022download-ppt last\u0022\u003E\u003Ca href=\u0022\/highwire\/powerpoint\/1110296\u0022 class=\u0022highwire-figure-link highwire-figure-link-ppt\u0022 data-icon-position=\u0022\u0022 data-hide-link-title=\u00220\u0022\u003EDownload powerpoint\u003C\/a\u003E\u003C\/li\u003E\u003C\/ul\u003E\u003C\/div\u003E\u003Cdiv class=\u0022fig-caption\u0022 xmlns:xhtml=\u0022http:\/\/www.w3.org\/1999\/xhtml\u0022\u003E\u003Cspan class=\u0022fig-label\u0022\u003EFig. 12.\u003C\/span\u003E \n\u003Cp id=\u0022p-62\u0022\u003EThe effect of \u003Cem\u003ET\u003C\/em\u003E\u003Csub\u003Ek\u003C\/sub\u003E on strike performance. Ten simulations were performed with equivalent parameter values (those for individual 3, \u003Cspan id=\u0022xref-table-wrap-1-15\u0022 class=\u0022xref-table\u0022\u003ETable 1\u003C\/span\u003E), except for an incremental decrease in the length of link 3 (0.54 mm\u0026lt;\u003Cem\u003El\u003C\/em\u003E\u003Csub\u003E3\u003C\/sub\u003E\u0026lt;0.95 mm) at regular intervals, which served to vary \u003Cem\u003ET\u003C\/em\u003E\u003Csub\u003Ek,min\u003C\/sub\u003E. Therefore, all simulations began with equivalent elastic energy storage (13.2 mJ). These simulations were run both with drag (purple lines) and without drag (green lines). (A) The time to maximum speed is plotted with respect to the minimum \u003Cem\u003ET\u003C\/em\u003E\u003Csub\u003Ek\u003C\/sub\u003E generated by each simulation. For the same simulations, the (B) maximum speed of the input angle and (C) the maximum power output of the striking body are plotted. (D) The maximum rotation speed (solid lines) is overlaid with the transmission efficiency (dashed lines).\u003C\/p\u003E\n\u003Cdiv class=\u0022sb-div caption-clear\u0022\u003E\u003C\/div\u003E\u003C\/div\u003E\u003Cspan class=\u0022highwire-journal-article-marker-end\u0022\u003E\u003C\/span\u003E\u003C\/div\u003E\u003Cspan id=\u0022related-urls\u0022\u003E\u003C\/span\u003E\u003C\/div\u003E\u003C\/div\u003E\u003C\/div\u003E\u003C\/li\u003E\u003C\/ul\u003E\u003C\/div\u003E\u003C\/div\u003E\u003Cdiv id=\u0022fig-data-tables\u0022 class=\u0022group frag-tables\u0022\u003E\u003Cdiv class=\u0022fig-data-title-jump clearfix\u0022\u003E\u003Ch3 id=\u0022fig-frag-data-title\u0022 class=\u0022fig-data-group-title\u0022\u003ETables\u003C\/h3\u003E\u003Cdiv class=\u0022fig-data-jump-links\u0022\u003E\u003Cul class=\u0022fig-data-jump-links-list links inline\u0022\u003E\u003Cli class=\u0022figures first last\u0022\u003E\u003Ca href=\u0022#fig-data-figures\u0022 class=\u0022fig-data-jump-link fig-data-jump-link-figures link-icon\u0022\u003E\u003Ci class=\u0022icon-caret-up\u0022\u003E\u003C\/i\u003E \u003Cspan class=\u0022title\u0022\u003EFigures\u003C\/span\u003E\u003C\/a\u003E\u003C\/li\u003E\u003C\/ul\u003E\u003C\/div\u003E\u003C\/div\u003E\u003Cdiv class=\u0022item-list\u0022\u003E\u003Cul id=\u0022fig-frag-fig\u0022 class=\u0022fig-frag-data-list clearfix\u0022\u003E\u003Cli class=\u0022first\u0022\u003E\u003Cdiv class=\u0022element-fig-frag-data clearfix supplementary-material-caption\u0022\u003E\u003Cdiv class=\u0022highwire-markup\u0022\u003E\u003Cdiv xmlns=\u0022http:\/\/www.w3.org\/1999\/xhtml\u0022 id=\u0022content-block-markup\u0022 xmlns:xhtml=\u0022http:\/\/www.w3.org\/1999\/xhtml\u0022\u003E\u003Cdiv class=\u0022table-expansion\u0022 id=\u0022T1\u0022\u003E\u003Cspan class=\u0022highwire-journal-article-marker-start\u0022\u003E\u003C\/span\u003E\u003Cdiv class=\u0022highwire-figure\u0022\u003E\u003Cdiv class=\u0022fig-inline-img-wrapper\u0022\u003E\u003Cdiv class=\u0022fig-inline-img\u0022\u003E\u003Cspan class=\u0022hw-responsive-img\u0022\u003E\u003Cimg class=\u0022highwire-fragment fragment-table lazyload\u0022 alt=\u0022Table 1.\u0022 src=\u0022data:image\/gif;base64,R0lGODlhAQABAIAAAAAAAP\/\/\/yH5BAEAAAAALAAAAAABAAEAAAIBRAA7\u0022 data-src=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/T1.medium.gif\u0022\/\u003E\u003Cnoscript\u003E\u003Cimg class=\u0022highwire-fragment fragment-table\u0022 alt=\u0022Table 1.\u0022 src=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/T1.medium.gif\u0022\/\u003E\u003C\/noscript\u003E\u003C\/span\u003E\u003C\/div\u003E\u003C\/div\u003E\u003C\/div\u003E\u003Cspan class=\u0022highwire-journal-article-marker-end\u0022\u003E\u003C\/span\u003E\u003C\/div\u003E\u003Cspan id=\u0022related-urls\u0022\u003E\u003C\/span\u003E\u003C\/div\u003E\u003C\/div\u003E\u003C\/div\u003E\u003C\/li\u003E\u003Cli class=\u0022last\u0022\u003E\u003Cdiv class=\u0022element-fig-frag-data clearfix supplementary-material-caption\u0022\u003E\u003Cdiv class=\u0022highwire-markup\u0022\u003E\u003Cdiv xmlns=\u0022http:\/\/www.w3.org\/1999\/xhtml\u0022 id=\u0022content-block-markup\u0022 xmlns:xhtml=\u0022http:\/\/www.w3.org\/1999\/xhtml\u0022\u003E\u003Cdiv class=\u0022table-expansion\u0022 id=\u0022T2\u0022\u003E\u003Cspan class=\u0022highwire-journal-article-marker-start\u0022\u003E\u003C\/span\u003E\u003Cdiv class=\u0022highwire-figure\u0022\u003E\u003Cdiv class=\u0022fig-inline-img-wrapper\u0022\u003E\u003Cdiv class=\u0022fig-inline-img\u0022\u003E\u003Cspan class=\u0022hw-responsive-img\u0022\u003E\u003Cimg class=\u0022highwire-fragment fragment-table lazyload\u0022 alt=\u0022Table 2.\u0022 src=\u0022data:image\/gif;base64,R0lGODlhAQABAIAAAAAAAP\/\/\/yH5BAEAAAAALAAAAAABAAEAAAIBRAA7\u0022 data-src=\u0022http:\/\/jeb.biologists.org\/content\/jexbio\/215\/7\/1231\/T2.medium.gif\u0022\/\u003E\u003Cnoscript\u003E\u003Cimg class=\u0022highwire-fragment fragment-table\u0022 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